Characterisation of the RELbot

BSc assignment

The RELbot is an educational robot used in the MsC Robotics at the University of Twente. Controllers for this RELbot can be designed using a bond graph model made in 20-sim. Currently, this model is too simple which leads to it being unable to properly describe the behaviour of the robot. This means that the students are limited in their choice of controller designs, and the controllers which are designed, work less well due to the incomplete model.

This project aims to make a model in 20-sim which describes the important physical properties of the RELbot, while also being as simple as possible. This will be achieved by constructing a bond graph model and characterising the parameters used in this model. The model should allow for both verification by simulation and validation by experimentation.