Title :
Physical modeling with simmechanics for two-linked robot
Author_Institution :
St.-Peterburg State Univ., St. Petersburg, Russia
fDate :
June 30 2014-July 4 2014
Abstract :
The problem of formation and approach of mathematical model and design control law for two-linked robot manipulator is considered. This type of robot can be provided in the form of an inverted T-shaped pendulum. The method of physical modeling in Simulink with using the library SimScape SimMechanics is suggested. Main features of this modeling type are considered. The dynamic properties of the obtained model and linear model of T-shaped pendulum are investigated and described. The speed control law for control object is designed.<;br/>
Keywords :
manipulators; pendulums; velocity control; Simulink; control object; design control law; inverted T-shaped pendulum; library SimScape SimMechanics; linear model; mathematical model; physical modeling; speed control law; two-linked robot manipulator; Educational institutions; Electronic mail; Libraries; Manipulator dynamics; Mathematical model;
Conference_Titel :
Computer Technologies in Physical and Engineering Applications (ICCTPEA), 2014 International Conference on
Conference_Location :
St. Petersburg
Print_ISBN :
978-1-4799-5315-8
DOI :
10.1109/ICCTPEA.2014.6893299
