Contribution to Computer Simulation of Problems from the Theory of Mechanisms Focused on Robots

摘要

The aim of the paper is to present a regulation and control model of the two link manipulator end effector position. Attention is paid to kinematic and dynamic analysis of the manipulator. Then the simulation model with a control algorithm of its end effector position is proposed. MSC Adams Control Toolkit is used for computer simulation. Finally the results of the simulation are presented in graphical form. An example of a robot model that will be the objective of the solution in the paper consists of two members. The industrial robot can be considered as an open chain mechanism consisting of rigid links and joints. The movable arms are mounted on a solid base ensuring its stability in operation. A working tool, in our case a basket, is fixedly connected to the movable upper arm. Our aim is to describe the movement of the basket of the end member. The control of the position of the end member was performed by the MSC Adams program, which offers the possibility to build a control system and also the possibility of using regulator. In this case a proportional regulator with K_p gain is used. The stability of the basket is eliminated by the control circuit by applying a balancing torque that allows the basket to stabilize during movement. For the control system a feedback control circuit is provided. The regulator controls the equalization torque to keep the basket in a horizontal position during arm rotation. The aim was also to obtain results from the manipulation of the robot's end effector and to prove the ability and functionality of the designed balancing torque controller. The course of the current and desired angle while moving by trajectory is displayed graphically.