Main features and comparison of mathematical and physical modeling in MATLAB for two-linked robotic

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 T-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.

Integrated SolidWorks & Simscape Platform for the Model-Based Control Algorithms of Hydraulic Manipulators

“…In one word, when a real physical system is virtually simulated using traditional programming languages, it is not easy to understand what sort of physical system it represents and how the components in this system is actually composed. The invention of physical modeling language puts an end to this embarrassing situation [9]. Physical modeling language is also a kind of language which is used to represent the mathematic model of a physical componentjust like traditional programming languagesbut in a totally different way.…”