Assisted Research of the Robots Kinematics and Dynamics Behavior with LabVIEW Instrumentation

Abstract

In the industrial robots research one of the most important problem is to know cinematic and dynamic behavior to use them in the optimization process of the 3D space trajectory. Now, in the world, the results of the dynamic behavior research where obtained by research without one complex matrix model and without LabVIEW virtual instrumentation. In this paper it is show one assisted method and mathematical modeling with quadratic 6x6 matrix equations in the theoretical and experimental cinematic and dynamic analyze of didactical robot. For that where realized and used many virtual LabVIEW instruments (VI) and one didactical robot. All VI-s work on-line with the possibility to change some constructive and functional parameters of the structure or of the command low and see what is happened with the position, velocities, accelerations, forces and moments in all robot’s joints It is possible to try different control low of the movements like: simultaneously, successive or successive and simultaneously in all joints. The most important of the results is the possibility to know in every moment what is the better velocity characteristic for the dynamic behavior, validate easily the dynamic model and to know what is the variation of the absolute joint’s moments, forces, accelerations and velocities to can calculate all mechanical parts in each joints.