Simulation and Control of Complex Articulated Objects

The Computer Modelling Laboratory:

• Validates the kinematic, static, dynamic and resonant restrictions of the objects;
• Develops simulation models taking the geometric, mass, and energetic characteristics of the elements of the object into account;
• Allows tracking and adaptive control of complex objects with restrictions to reach the main control goals like angle, linear and angular acceleration errors;
• Provides verification of the algorithm of the control object.

Mathematical model development can be performed in environments such as SimMechanics or Simulink or in programming languages such as C, C++, and C#. The customer receives the models as firmware or as a DLL.

The input data necessary for completion of a simulation task includes:

• A description of the design of the simulated object with dimensions and the superimposed movement restrictions;
• Information about the monitoring system (including sensors for further evaluation of the accuracy of the model;
• Weight and dimensions of the object and its parts and the features of installed drives.