Control of a manipulation robot interacting with elastic objects using a software module for three-dimensional simulation of multibody mechanical systems

The SimMechanics software module for three-dimensional simulation of multibody mechanical systems of the Simulink package, written in the MATLAB environment, can be used to assess the manipulation capabilities of positioning manipulators in working environments when interacting with elastic objects whose movement is partially constrained by contact with one or several objects. The present article discusses the design of a three-dimensional manipulator model as a block structure with feedback. The block structure of the model operates not via signals, but on the basis of mechanical forces arising within the mathematical model. The automation of massage therapy procedures is addressed as an operating environment for a manipulator. The object being manipulated is biological soft tissue.