Control of Manipulation Robot Interacting with Elastic Objects Using Simmechanics

摘要

In the present article assessment of the manipulation capabilities of positioning manipulators in the production environment when interacting with elastic objects. The movement of the manipulators is partially limited to contact with one or more objects may be performed with the program module of the three-dimensional simulation of the multi-mechanical systems SimMechanics, Simulink package, MatLab environment. In this environment a three-dimensional manipulator model was designed in the form of a block diagram. The block structure of the model operates with mechanical forces arising within the mathematical model. As an object environment for the operation of such manipulator, the sphere of automatic maintenance or service in industrial or social tasks is considered. The objects of manipulation are soft biological tissues in the tasks of restorative and rehabilitation. The results of algorithms studies for the manipulation robot interaction with an elastic biological tissue make it possible to assess the accuracy of the manipulation.