Modelica-based Modeling Research of Picking Manipulator Motion Control Process

摘要

Modelica is a unified modeling language for solving ordinary differential equation and differential-algebraic equation,but it is difficult to solve the multi-variable function partial differential equation and distributed parameter process.For Fruit Picking Manipulator motion control's multivariable function and nonlinear's complexity of uncertainty,a robot body structure model and its manipulator driveLib model library were developed based on the virtual design method in Modelica.Then the algorithm was proposed by the transform the multi-variable function partial differential equations into the transfer function with the Laplace transform,and mechanical motion control model and mathematical coupled relation were developed.The simulating results providing a theoretical basis for the manipulator design show the validity of the model and method.