REDUCING SIMULATION TIME OF ROBOT SYSTEMS

摘要

In this work, simplification methods of robot models for reducing simulation time are proposed. Reducing simulation time by means of increasing a discrete time step is proposed. The evaluation of both simplifications of robot models and increasing the discrete time step are presented. For AS robot and experimental robot these methods are applied. The graphic models of these robots, created in Simulink are proposed. The Simulink gives a possibility of easy modeling of complex dynamic systems. These robots possess manipulation, drive and control systems. The results of simulation of robot movements by means of non-simplified models are presented. The required exemplary trajectories, described by motor angles, have been investigated. A method of the choice of a discrete time step for simulation by means of non-simplified robot models, with the fixed value of this step, is presented. Next, results of simulation of robot movements by means of simplified models and increased discrete time step were presented. Simulation errors caused by simplifications of robot models and increasing discrete time step were evaluated. Times of simulation by means of the simplified robot models and increased discrete time step were compared to times of simulation by means of non-simplified robot models and non-increased discrete time step. The times of simulations by means of simplified robot models and increased discrete time step were compared to simulated times.