심해저 채광 로봇의 Co-Simulation 해석 환경 구축

Abstract

In this paper, establishment method of co-simulation environment between commercial dynamic analysis software (RecurDyn) and MatLAB/Simulink for Deepsea Mining Robot is introduced. It is difficult to input the wanted motion with only commercial dynamic analysis software in simulation of Deepsea Mining Robot such as a constant velocity driving, keeping the horizontal posture, etc. Therefore the co-simulation is need using MatLAB/Simulink for application of control logic to dynamic model of commercial software. In this paper, the constant velocity driving simulation is presented as an example using the PID controller and RecurDyn model.