Modelling of Unilateral Constraints for Virtual Prototyping in SimMechanics

Grepl, R.; Vlach, Radek; Krejci, P.

doi:10.1109/icmech.2007.4279996

Cited by 5 publications

(1 citation statement)

References 2 publications

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“…The inverse problem of dynamics can be used to obtain the torques of individual links of the manipulator during motion. In the SimMechanics program, based on the obtained workspace quantities, the torques of the two links in motion have been determined (Hroncová et al [15], Vavro et al [16], Grepl [17], [18], Frankovsky et al [19]). Figure 7 shows the flowchart in SimMechanics for the inverse dynamics problem.…”

Section: Rendering Of the Manipulator Trajectorymentioning

confidence: 99%

Application of direct and inverse kinematics and dynamics in motion planning of manipulator links

Delyová,

Hroncová,

Frankovský

et al. 2023

International Journal of Applied Mechanics and Engineering

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For the synthesis of manipulators and robots, an accurate analysis of the movements of the individual links is essential. This thesis deals with motion planning of the effector of a multi-linked manipulator. An important topic in this area is the orientation and position of links and kinematic pairs in space. In particular, attention should be paid to the position of their endpoint as well as other significant points. Trajectory planning allows the manipulator to perform complex tasks, such as picking and placing objects or following a particular path in space. Overall, trajectory planning of a multibody manipulator involves a combination of direct and inverse kinematics calculations, as well as control theory and optimization techniques. It is an important process enabling manipulators to perform complex tasks such as assembly, handling and inspection. In the design of robot kinematic structures, simulation programs are currently used for their kinematic and dynamic analysis. The proposed manipulator was first solved by inverse kinematics problem in Matlab. Subsequently, the trajectories of the end-effector were determined in Matlab by a direct kinematics problem. In Simulink, using the SimMechanics library, the inverse problem of dynamics was used to determine the trajectories of the moments.

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