Computer simulation of the dynamics of multi- link manipulators with control

Ivanov Sergei Evgenievich, Zudilova Tatyana Viktorovna, Osetrova Irina Stanislavovna, Voytyuk Tatyana Evgenevna

The problem of mathematical modeling of the dynamics of manipulators with control by means of a software module developed and registered by the authors in functional programming language is considered. A universal software module allows you to build and analyze a model of various types of manipulators up to six degrees of mobility, presented in the form of a system of nonlinear differential equations. The solution of the studied model is constructed by the numerical Runge-Kutta method and the analytical method of polynomial transformations. The paper describes the main blocks of the program on the example of the analysis of a software-controlled manipulator with three degrees of mobility. The software module can be used for engineering analysis of various types of manipulators.

Keywords:computer modeling, dynamics of manipulators, analysis of manipulators, software module, mathematical modeling