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Karban, P., 2006. Výpočty a simulace v programech Matlab a Simulink. Computer Press, , Česko.

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Article

SimMechanics and Forward and Inverse Problem of Dynamics

1Department of Mechatronics, Faculty of Mechanical Engineering, Technical University of Košice, Letná 9, 042 00 Košice, Slovak republic

2Department of Automation, Control and Human Machine Interactions, Faculty of Mechanical Engineering, Technical University of Košice, Letná 9, 042 00 Košice, Slovak republic


Journal of Automation and Control. 2015, Vol. 3 No. 3, 58-61
DOI: 10.12691/automation-3-3-3
Copyright © 2015 Science and Education Publishing

Cite this paper:
Darina Hroncová, Róbert Rákay, Tomáš Lipták. SimMechanics and Forward and Inverse Problem of Dynamics. Journal of Automation and Control. 2015; 3(3):58-61. doi: 10.12691/automation-3-3-3.

Correspondence to: Darina  Hroncová, Department of Mechatronics, Faculty of Mechanical Engineering, Technical University of Košice, Letná 9, 042 00 Košice, Slovak republic. Email: darina.hroncova@tuke.sk

Abstract

In the paper we show the possibilities of physical modeling in Matlab/SimMechanics on a simple mechanical model of robot arm with two links. We deal with its direct and inverse dynamics. Direct problem investigates the mechanical movement of the robot under the action of given forces and moments. In inverse problem we identify the forces which cause a prescribed motion of the effector. Both problems are solved using block diagrams in SimMechanics. Results are presented graphically.

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