SimMechanics and Forward and Inverse Problem of Dynamics

Darina Hroncová^1, , Róbert Rákay² and Tomáš Lipták¹

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

Cite this paper:
Darina Hroncová, Róbert Rákay and 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

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.

Keywords:
forward dynamics inverse dynamics Matlab Simulink SimMechanics

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