center of gravity analytic solver platform

The robot models were developed on basis of the robot configuration.

Several approaches for the robot model development in the SimMechanics environment that appeared in last years are known worldwide, e.g. This approach does not require cumbersome deriving differential equations of the system and presents an easy and fast way to obtain the dynamic model of the system and saves time and effort. The SimMechanics program enables one to model mechanical systems by bodies and joints, to simulate their motion, to change easily the structure, to optimize system parameters, and to analyze results all within the Simulink environment. The SimMechanics program scheme having the form of interconnected blocks shows how the physical components with geometric and kinematic relationships of the robot are mutually interconnected. The physical modeling in the SimMechanics environment considerably facilitates simulation efforts of complex mechanical systems regardless of their complication by elastic and damping elements and by number of degrees of freedoms. The design of a control law for the drive system is also connected with the need of transfer function derivation and with simulation of dynamical properties of the robot mechanical system as a whole. Generally, this inverse kinematic task is not solvable analytically and the numerical calculation often entails difficulties. When designing control of a robot, we need to know necessary torque and angle of rotation of each motor, to visualize behavior of the robot, and to obtain mathematical model of each part. The computer modeling presents such basic tool for mentioned mechatronic approach. Robots present considerably complicated electromechanical systems with mutual interactions of robot mechanics and drives, at design of which the mechatronic approach should be taken into consideration.

Center of gravity analytic solver platform