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Modeling and control of an educational manipulator robot joint

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dc.contributor.authorCoelho, J. A. B.
dc.contributor.authorBrancalião, Laiany Suganuma
dc.contributor.authorAlvarez, Mariano José
dc.contributor.authorCosta, Paulo
dc.contributor.authorGonçalves, José
dc.date.accessioned2026-03-02T11:47:06Z
dc.date.available2026-03-02T11:47:06Z
dc.date.issued2025
dc.description.abstractIntegrating physical robots in an educational context often entails acquiring Expensive equipment that often operates using proprietary software. Both conditions restrict the students from exploring and fully understanding the internal operation of robots. In response to these limitations, a three-degree-of-freedom robotic manipulator, based on the “EEZYbotARM MK2” open-source design by Carlo Franciscone, is being repurposed and integrated within the SimTwo simulation environment to operate within a hardware-in-the-loop architecture. To accomplish this objective, first, an open-source Arduino-based library was developed aiming at the robot’s online and offline programming akin to industrial robots. The firmware is able to communicate with the SimTwo software in which the digital twin’s robot is living. The dynamic behavior of the robot’s digital twin must be properly parametrized and aligned with the physical robot’s dynamics. This article describes the modeling of the robot joint’s actuator and its closed-loop controller formulation. The obtained results show that the dynamic behavior of the robot joint digital twin closely matches both open and closed-loop, the one of its physical counterpart.eng
dc.identifier.citationCoelho, J. A. B.; Brancalião, Laiany Suganuma; Alvarez, Mariano José; Costa, Paulo; Gonçalves, José (2025). Modeling and control of an educational manipulator robot joint. In Twelfth International Conference on Technological Ecosystems for Enhancing Multiculturality. Singapore: Springer Nature, p. 659-668. ISBN 978-981-96-5658-5. DOI: 10.1007/978-981-96-5658-5_65
dc.identifier.doi10.1007/978-981-96-5658-5_65
dc.identifier.isbn9789819656578
dc.identifier.isbn978-981-96-5658-5
dc.identifier.urihttp://hdl.handle.net/10198/35907
dc.language.isopor
dc.peerreviewedyes
dc.publisherSpringer Nature
dc.relation.ispartofLecture Notes in Educational Technology
dc.relation.ispartofProceedings of TEEM 2024
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/
dc.subjectControl
dc.subjectEducation
dc.subjectModeling
dc.subjectPhysics simulation
dc.subjectRobotics
dc.subjectSimTwo
dc.titleModeling and control of an educational manipulator robot jointeng
dc.typeconference paper
dspace.entity.typePublication
oaire.citation.titleTwelfth International Conference on Technological Ecosystems for Enhancing Multiculturality
oaire.versionhttp://purl.org/coar/version/c_ab4af688f83e57aa
person.affiliation.nameInstituto Politécnico de Bragança
person.familyNameCoelho
person.familyNameBrancalião
person.familyNameAlvarez
person.familyNameGonçalves
person.givenNameJ. A. B.
person.givenNameLaiany Suganuma
person.givenNameMariano José
person.givenNameJosé
person.identifierR-000-7ZW
person.identifier.ciencia-idC81E-7051-4C18
person.identifier.ciencia-idDD1C-97FA-B567
person.identifier.ciencia-idBC16-6ADC-AFC4
person.identifier.ciencia-id8112-DCE2-D025
person.identifier.orcid0009-0004-8278-7579
person.identifier.orcid0000-0002-0257-4361
person.identifier.orcid0000-0001-8680-885X
person.identifier.orcid0000-0002-5499-1730
person.identifier.ridB-8547-2018
person.identifier.scopus-author-id57218109310
person.identifier.scopus-author-id48361230200
relation.isAuthorOfPublicationfcbce19e-058f-49dd-a34c-f6073621122f
relation.isAuthorOfPublicationb386b163-7c7b-484a-b191-1e5104a57768
relation.isAuthorOfPublication9bc92eab-0741-411d-a661-d76d2c227b40
relation.isAuthorOfPublication6a3b0b39-7fe9-4450-94f4-ced3941947da
relation.isAuthorOfPublication.latestForDiscoveryfcbce19e-058f-49dd-a34c-f6073621122f

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