Inverse and forward dynamic analysis of two link manipulator

机译：两个链接机械手的逆向和前向动态分析

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In the paper we show the possibilities of physical modeling in Matlab/SimMechanics on a simple mechanical model of two link manipulator. We deal with its direct and inverse dynamics. Considering direct problem we investigate mechanical movement of the robot under the action of given forces and moments. As regards the issue of inverse motion we identify forces which cause a prescribed motion of the effector. Both problems are solved using block diagrams in Simulink and SimMechanics. Results are presented graphically.

机译：本文展示了在两个链接机械手的简单机械模型上的Matlab / Simmechanics中物理建模的可能性。我们处理直接和反向动态。考虑到直接问题，我们调查机器人在给定力和时刻的作用下机器人的机械运动。关于逆动动的问题，我们识别导致效应的规定运动的力量。使用Simulink和SimMechanics中的框图解决了这两个问题。结果以图形方式呈现。

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《Modelling of Mechanical and Mechatronics Systems》|2013年||共6页
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Peter Frankovsky; Darina Hroncova; Ingrid Delyova;
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中图分类机械设计、计算与制图;
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Kinematic and dynamic analysis; double pendulum; direct and inverse problems in dynamics; computer simulation; Matlab; SimMechanics.;

机译：运动和动态分析;双摆型;动态的直接和逆问题;电脑仿真;Matlab;兴种力学。;

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1. Use of inverse dynamics for trajectory tracking of flexible-link manipulator with account of link shortening effect [J] . El-Badawy A.A. Journal of vibration and control: JVC . 2011,第4期

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2. Inverse Dynamics of Multilink Cable-Driven Manipulators With the Consideration of Joint Interaction Forces and Moments [J] . Lau Darwin, Oetomo Denny, Halgamuge Saman K. Robotics, IEEE Transactions on . 2015,第2期

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3. Inverse dynamics of wire-actuated parallel manipulators with a constraining linkage [J] . Leila Notash, Amin Kamalzadeh Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods . 2007,第9期

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4. Dynamical Analysis of Flexible Space Manipulator with Deployable Links Dynamical Analysis of Flexible Space Manipulator with Deployable Links Dynamical Analysis of Flexible Space Manipulator with Deployable Links Dynamical Analysis of Flexible Space [C] . Tadashi KOMATSU, Togo SAKAI, V. J. MODI 日本ロボット学会学術講演会 . 2001

机译：柔性空间机械手的动态分析可展开柔性空间机械手动力分析，可展开柔性空间机械手动力分析，可展开柔性空间的动力学分析
5. Inverse dynamics of wire-actuated parallel manipulators with a constraining linkage: Modelling, simulation, and analysis of a 4-DOF redundant manipulator [D] . Kamalzadeh, Amin 2004

机译：具有约束链接的线驱动并联机械手的逆动力学：4-DOF冗余机械手的建模，仿真和分析
6. Giant direct and inverse magnetocaloric effect linked to the same forward martensitic transformation [O] . J. I. Pérez-Landazábal, V. Recarte, V. Sánchez-Alarcos, -1

机译：巨大的正反磁热效应与同一个正向马氏体相联系
7. Inverse and Forward Dynamic Analysis of Two Link Manipulator [O] . Frankovský Peter, Hroncová Darina, Delyová Ingrid, 2012

机译：两连杆机械手的正反动力学分析
8. Analysis of forward and inverse problems in chemical dynamics and spectroscopy. Progress report, February 1, 1993--July 31, 1994 [R] . Rabitz, H. 1994

机译：化学动力学和光谱学中的正反问题分析。进展报告，1993年2月1日至1994年7月31日

Inverse and forward dynamic analysis of two link manipulator

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