Modeling and Simulation of a Mechatronic Unit EOD/IEDD

This paper presents a proposal for modeling and simulation of a mechatronic unit called EOD/IEDD, by carrying out a modeling and simulation of a proposed control, this unit is applied to perform hazardous-duty operations. This methodology includes the model and simulation for the behavior of 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.