Rapid prototyping of mechatronic systems

The paper describes a mechatronic approach towards designing and implementation complex motion control systems. Particular attention was paid to virtual and physical prototyping of the control system. Possible implementations were divided into two groups: single applications or mass production. Authors attempt to present a unified approach towards the development of the process of designing control systems of both types. The prototyping environment was build around MATLAB, Simulink and RTW software from
The MathWorks Inc.

Verification of presented methodology was done using physical model of a flexible robot arm: a with flexible beam, DC motor drive and harmonic gear. Object is very difficult to control due to non-linear and non-stationary behaviour of harmonic gear.