Modeling and simulation of the dynamic behavior applied to a mechatronic unit EOD/IEDD

This paper presents the modeling and simulation of a mechatronic unit EOD/IEDD (explosive ordinance disposal/ improvised explosive device disposal), by carrying out a modeling and simulation of a proposed control, this unit is applied to perform hazardous-duty operations. In this work proposes a methodology to model and simulate the behavior of a mechatronic unit. The mechatronic unit is a mobile manipulator with 5 degrees of freedom. The simulation considers the dynamic of system coupled, such that the errors in the model can be detected and later confined by control.