Modelica Model of youBot Arm

This dynamic model of the KUKA youBot manipulator was developed by Rhama Dwiputra, a student at Bonn-Rhine-Sieg University of Applied Sciences.

It is based on Modelica and Dymola 5 (http://www.3ds.com/products/catia/portfolio/dymola) with Modelica Standard Library 3.2 (MSL). The complete model is contained in one package (youBot.mo). It is further divided into components which are grouped into different sub-packages based on the complexity and domain (youBot.Controller, youBot.Body, youBot.Axis, and youBot.System). Additionaly, examples on how to perform simulation using the model are provided in "youBotExamples" package (youBotExamples.mo). The model can be downloaded from here.

A model overview is presented in the following youtube video: 
https://www.youtube.com/watch?v=P0v45TGsLZ0 
And a comparison between the model vs the actual arm is presented here: 
http://www.youtube.com/watch?v=gJqWVcQiVdE 
And a related paper can be found here

The overview of the dynamic model is shown in the second figure.