Title :
Modeling and simulation of robot based on Matlab/SimMechanics
Author :
Shaoqiang, Yuan ; Zhong, Liu ; Xingshan, Li
Author_Institution :
Sch. of Autom. Sci. & Electr. Eng., BeiHang Univ., Beijing
Abstract :
In recent years, studies about control methods for complex machines and robots have been developed rapidly. Biped robots are often treated as inverted pendulums for its simple structure. But modeling of robot and other complex machines is a time-consuming procedure. A new method of modeling and simulation of robot based on SimMechanics is proposed in this paper. Physical modeling, parameter setting and simulation are presented in detail. The SimMechanics block model is first used in modeling and simulation of inverted pendulums. Simulation results of the SimMechanics block model and mathematical model for single inverted pendulum are compared. Furthermore, a full state feedback controller is designed to satisfy the performance requirement. It indicates that SimMechanics can be used for unstable nonlinear system and robots.
Keywords :
control system analysis computing; control system synthesis; digital simulation; mathematics computing; mobile robots; nonlinear control systems; pendulums; robot kinematics; stability; state feedback; Matlab; SimMechanics; biped robot modeling; biped robot simulation; inverted pendulum; parameter setting; physical modeling; state feedback controller design; unstable nonlinear system; Equations; Kinematics; Libraries; Mathematical model; Mechanical systems; Mobile robots; Rails; Robotics and automation; Service robots; State feedback; Inverted pendulum; Modeling; SimMechanics; Simulation;
Conference_Titel :
Control Conference, 2008. CCC 2008. 27th Chinese
Conference_Location :
Kunming
Print_ISBN :
978-7-900719-70-6
Electronic_ISBN :
978-7-900719-70-6
DOI :
10.1109/CHICC.2008.4604913
