Matrix x /ar: An automation and robotics modeling, simulation and control law development environment
© American Institute of Aeronautics and Astronautics, Inc., 1986. All rights reserved. An integrated set of tools for modeling, simulation, control law formulation, and validation for multi-degree of freedom robotic manipulators has been developed. These tools take advantage of the flexibility of the simulation building language SYSTEM_BUILD available in the control design and simulation package MATRIX x . The block diagram structure used for the robotic simulation allows the user to flexibly model actuator dynamics, parasitic nonlinearities, and motor models. The real advantage of such a robotics simulation environment is that different control laws can be quickly configured and applied to the robotic simulation including interaction with the environment such as compliant motion. Implicit constraints such as constraints on the force/velocity of the end effector can also be handled. The nonlinear equations are mechanized in a way which enables the same blocks to be used in prelinearizing control law design. The modeling, simulation, and control law formulation/verification capabilities of this automation and robotic extension of MATRIX x are explained, illustrated, and demonstrated with an example.
author list (cited authors)
Langari, R., Walker, R. A., Coleman, N. E., & Yip, P.