Simulation Program for the Analysis of 6 d.o.f. Manipulators

摘要

In the Kinematic and Dynamic control of a robotic manipulator, we use algorithms that cover the analysis of each link of the manipulator. In order to visualise the results of the analysis for a robotic manipulator, we can simulate the manipulator. This paper presents a simulation program, that considers the motion of six degrees of freedom manipulators. It is a menu-driven program with a graphical user interface. It uses the tools of Kinematic and Dynamic Analysis of robotic manipulators, to create the desired trajectory and check the manipulator's ability to execute a prescribed trajectory. It provides the results of the analysis in printer, ASCII files or screen for inspection and further utilisation. Because of the graphical representation of the robotic manipulator, that the simulation program provides, based on the dimensions of the links and the D-H parameters, a further usage of this program could be the first stage of a robotic manipulator design and the examination of this manipulator to the execution of the desired tasks for which it is designed. This approach may apply to the kinematic and dynamic analysis of any robotic manipulator with six degrees of freedom. We applied it to a robotic manipulator with six degrees of freedom (RRPRRR). The program has been written in Borland C++ language, version 3.1.