DocumentCode
230263
Title
Main features and comparison of mathematical and physical modeling in MATLAB for two-linked robotic
Author
Lepikhin, T.A. ; Pogozhev, S.V. ; Vedyakova, A.O.
Author_Institution
St.-Petersburg State Univ., St. Petersburg, Russia
fYear
2014
fDate
June 30 2014-July 4 2014
Firstpage
1
Lastpage
4
Abstract
The problem of formation and approach of mathematical model and design control law for two-linked robot manipulator is considered. This robotic can be provided in the form of flipped TL-type pendulum. The method of physical modeling in MATLAB 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-type pendulum are defined and described. The speed control law for mathematical and physical Model of control object is designed.
Keywords
control system synthesis; manipulators; velocity control; MATLAB; SimScape SimMechanics library; T-type pendulum; design control law; flipped TL-type pendulum; mathematical model; physical modeling; speed control law; two-linked robot manipulator; Computational modeling; Educational institutions; Libraries; MATLAB; Manipulators; Mathematical model;
fLanguage
English
Publisher
ieee
Conference_Titel
Emission Electronics (ICEE), 2014 2nd International Conference on
Conference_Location
St. Petersburg
Type
conf
DOI
10.1109/Emission.2014.6893962
Filename
6893962
Link To Document