Computer Aided Modeling of Mobile Wheels Robots

It is necessary to generate the appropriate inverse kinematics or the dynamic model for robot motion description. The dynamic model allows considering such properties as: mass, friction forces, mass-moment of inertia, torque, centrifugal force, etc. Such models are built in order to better under- stand the operation and structure the future mechatronic product. The model elaboration becomes even more important if high complex systems are to be developed. The preparation and application of the model allows detecting the mistakes and imperfections in the description (model) of the real system.

Their modification is less expensive and simpler on the virtual stage in comparison with the costs of the improvement of already existing solutions – physical prototypes. Generally, several models are developed for one system in order to describe its properties in variety of ways. It is necessary to comply with certain principles during elaborating the models. The designer of the model should adapt the circumstantialities of the model to the needs of application. Both oversimplification and excessive circumstantialities of the model may be wrong. The kind of the chosen model decisively influences both the design process and final result (linear, non-linear, kinematic or dynamic model). The same object intended for different applications will require different models (there is no universal model). The modeling and the simulation has become an indispensable part during design of the mechatronic systems. These systems are mainly built-up from other systems and subsystems of different nature.

The mechatronic product may be composed of mechanical, hydraulic, electric, and pneumatic elements where some elements require also appropriate control systems. The elaboration of exact models requires modeling of all these elements, not depending on their nature. The packet Mat- lab/Simulink is one of not too many tools that allow simulating and modeling interdisciplinary systems in one common environment. Practically, this packet makes simulation possible for any object, provided its model exists in the form of the system of differential equations or differential-algebraic equations. This environment enables also to elaborate the model in the form of a block diagram, provided that such blocks are accessible in the program library. If a block diagram is not accessible it is however possible to design it.

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