engleski

SIMULATIONS OF MOTION OF INDUSTRIAL ROBOTS

Simplicity of the forward and inverse position and velocity kinematics has always been one of the major design criteria for industrial robots. Hence, almost all of them have a very special kinematics’ structure ; they are intending to use special programs for the motion control. The idea of the presented procedure is to use the commercial software for simulations of such advanced mechanical systems. Simulation of the robot leads the following procedure: Model of the robot has been created in SOLIDWORKS and is used to generate the robot mechanism in ADAMS. The motion control is programmed in MATLAB/SIMULINK through the homogeneous transform and finite displacement twist of the robot structure in ROBOTICS TOOLBOX. Model of robot ADEPT SIX 300 is presented. It is characterized by six rotations and its kinematics’ and dynamics’ model is analysed by using the Denavit – Hartenberg method. The forward and inverse problems have been solved and the trajectories of the joints are presented as well. Interpreter of the robotic language V+ is programmed in language C in order to read the data that determine the motion of the robot components. The pose representations describe relative displacements in the three-dimensional Euclidean space. Two kinds of simulation of motion in MSC.ADAMS were successfully carried out based on the inverse force kinematics (“ IFK” ) and forward force kinematics (“ FFK” ) principles. As expected, the mapping from joint positions to the end pose is easier than inverse mapping ; the forward mapping generated trajectories offer up to 30% trajectory points comparing to the ones that are generated by the inverse mapping.

Industrial robot; simulation of motion; robot programming

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