Physical modeling with simmechanics for two-linked robot

The problem of formation and approach of mathematical model and design control law for two-linked robot manipulator is considered. This type of robot can be provided in the form of an inverted T-shaped pendulum. The method of physical modeling in Simulink with using the library SimScape SimMechanics is suggested. Main features of this modeling type are considered. The dynamic properties of the obtained model and linear model of T-shaped pendulum are investigated and described. The speed control law for control object is designed.<;br/>