Abstract
The article describes construction of a mathematical model of a robot The method is based on a matrix calculus. The advantage of the described method is in unified approach which allows systematic construction of mathematical model of mechanical part of a robot together with its electrical drives. Matrix engine of the MATLAB-SIMULINK then allows easy simulation of the complete robot. The article also discuss classical way of model construction and gives its comparison with the matrix approach.
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References
Spong, M.W., Vidyasagar, M.: Robot Dynamics and Control. J. Wiley, N. Y. (1989)
Vukobratovic, M., Stokic, D.: Applied Control of Manipulation Robots. Springer, Heidelberg (1989)
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© 2000 Springer-Verlag Berlin Heidelberg
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Šolc, F. (2000). Matrix Model of Robot in Matlab – Simulink. In: Kopacek, P., Moreno-Díaz, R., Pichler, F. (eds) Computer Aided Systems Theory - EUROCAST’99. EUROCAST 1999. Lecture Notes in Computer Science, vol 1798. Springer, Berlin, Heidelberg. https://doi.org/10.1007/10720123_21
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DOI: https://doi.org/10.1007/10720123_21
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-67822-9
Online ISBN: 978-3-540-44931-7
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