MODELLING AND SIMULATION OF EXPERIMENTAL ROBOT

摘要

The research results of experimental robot are presented. The robot has the IRb-6 manipulator with the base connected to a truck which may move on LP-1 track. The manipulator and truck are driven by means of 6 D.C. motors, controlled with feedback. The mathematic models of kinematics and dynamics of the manipulator are presented, taking into consideration the distribution of the mass of links, of drive units and actuators. The mathematic models of manipulator, servos and actuators are presented. Graphic models of the experimental robot were worked out in Simulink integrated with Matlab. The models have been used for the simulation of motion of the experimental robot for an exemplary trajectory. Simplification methods of the manipulator's dynamics model are proposed. The results of the simplifications are analysed. The results of simulation research on the experimental robot and experimental results have been compared, and the summary of research results presented.