2 results about "Modeling and simulation" patented technology

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.

The invention discloses an integrated modeling and simulation method with high expandability, provides a complex model integration algorithm suitable for the method, and finally invents a lightweight DSL (Domain Specific Language) in the field of integrated modeling and simulation to guide developers to develop corresponding integrated modeling and simulation software. Therefore, an integrated modeling process with high expandability and a reusable integrated model is supported, meanwhile, the requirement for the software development capability of integrated modeling personnel is lowered as much as possible, and a method, a tool and a platform which are easy to learn and improve the development efficiency of the integrated model are provided.