Описание программного комплекса для моделирования робота-манипулятора

Abstract

The article proposes the development of a software module for modeling the kinematics and dynamics of a manipulator with five degrees of freedom. To solve the forward kinematics problem of the manipulator, the Denavit–Hartenberg method was used. To solve the inverse kinematics and dynamics problem of the manipulator, analytical methods (the Levenberg-Marquardt method, the Newton–Euler method) and a soft computing method (adaptive neurofuzzy inference system) were used. The software module for modeling the kinematics and dynamics of the manipulator was developed using the software package of the SolidWorks computer-aided design system and the MatLab program. The developed software module is able to simulate the kinematics and dynamics of the manipulator based on the described methods, visualize the simulation results, generate a trajectory for the target position and orientation of the end-effector of the manipulator, simulate the movement of the manipulator along a given trajectory.