SimMechanics and Forward and Inverse Problem of Dynamics

摘要

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.