1. SysML-Modelica WG Meeting Robot Example Chris Paredis Georgia Tech Update by S. Friedenthal-100123 1

2. Representing the Modelica Robot in SysML Purpose – Provides an example as a test case for the SysML- Modelica Transformation Approach – Reviewed Robot from Modelica Standard Library – Generated corresponding SysML model – Applied SysML4Modelica Profile 2

3. Robot Model from Modelica Standard Library 3 motor torque

4. Robot Model in SysML 4

5. 5 Elements of Interest in Robot Domain

6. 6 Robot Context Diagram

7. 7 Robot Decomposition

8. 8 Robot Internal Block Diagram

9. 9 Actuator Decompostion

10. 10 Actuator Internal Block Diagram

11. 11 Arm Decomposition

12. 12 Robot Analysis Context

13. 13 Computing Overall Robot Effectiveness

14. 14 Trajectory Error Analysis

15. 15 Controller Performance

16. 16 Defining Units for the Analysis

17. SysML4Modelica Profile 17

18. 18 Creating the SysML4Modelica Model

19. 19 Creating the SysML4Modelica Model (cont.)

20. 20 SysML4Modelica Model Analytical Model

21. 21 Defining Values for Model Execution