Bond-graph-based movable mechanical arm system and modeling method thereof

Abstract

The invention discloses a modeling method of a bond-graph-based movable mechanical arm system. The method comprises the steps of 1, constructing a driving motor and transmission mechanism bond graph model; 2,constructing a double-wheel differential type mobile robot mechanical system bond graph model; 3, constructing a series connection type mechanical arm mechanical system bond graph model; 4, according to the robot freedom degree, connecting the bond graph models established in step 1, step 2 and step 3, and establishing a complete robot system bond graph model by considering the force-bearing relationship between the system and the ground; 5, deriving a mathematic model according to the bond graph model; and 6, conducting system simulation and analysis according to the model. By means of the modeling method, errors caused by the operation that modeling and control are conducted on a mobile robot and a mechanical arm separately, but the coupling relationship between the mobile robotand the mechanical arm is neglected are avoided; the bond graph method is adopted, modeling and simulation problems of a robot system combining multiple energy forms are solved in a unified manner; and rapidness and precision of dynamics modeling, simulation and analysis of the robot system are improved.

Description

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AI Technical Summary

Benefits of technology

This technology uses an adhesive-graph approach for simulating mobile robots systems where different types of energy are used together without requiring individual models or simulations each time they're being developed. It also overcomes issues such as coupled interference between various parts due to their positional relationships during movement. Additionally it allows for independent control and error correction techniques while still allowing for effective use across all possible configurations. Overall this results in faster and more reliable motion planning and analyzation capabilities for robotic arms.

Problems solved by technology

This patented technical solution describes how computers help scientists analyze multidimensional mechanical systems efficiently without being forced to manually create their own models or approximate them accurately.

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