Abstract
The task of controlling multi-link robots with manipulators for implementation of high-tech processes in industry has been considered in the paper. The paper presents sequential steps of using computer technology in construction of robotic-manipulators, including mathematical, algorithmic, and hardware and software tools for creating a multi-drive mechatronic system controlled by OMRON industrial microcontroller. A kinematic scheme of a robot manipulator has been described in the paper and it performs the following two types of movements – rotation around the z axis and rectilinear movement of a working element along a turning radius with precise positioning at a given point in the working space. Electromechanical design of the manipulator allows to ensure transportation of production objects in accordance with a given technological process. For designing the technological process of transporting production objects, a software module has been developed that makes it possible to automate description of basic operations for movement of the robot manipulator working body with subsequent automatic generation of a command sequence for a control program ensuring operation of electric drives in manipulator links in real time. To speed up the process of designing trajectory of the working body, a spatial simulation model of a robot-manipulator in the MatLab-Simulink environment has been developed. The paper considers a generalized diagram of a mechatronic control system for a robot-manipulator based on the OMRON programmable logic controller operating under control of a program developed in the programming environment Sysmac Studio Automation. A program for a programmable terminal with interface elements and animation elements has been developed for industrial use of the mechatronic system during adjustment and operation period. The paper provides an appearance of a robot-manipulator prototype. The developed mechatronic system of the robot-manipulator can be technologically oriented towards solving other problems of industrial production.
Highlights
Electronic Systems manipulators, including mathematical, algorithmic, and hardware and software tools for creating a multi-drive mechatronic system controlled by OMRON industrial microcontroller
The paper considers a generalized diagram of a mechatronic control system for a robot-manipulator based on the OMRON programmable logic controller operating under control of a program developed in the programming environment Sysmac Studio Automation
A program for a programmable terminal with interface elements and animation elements has been developed for industrial use of the mechatronic system during adjustment and operation period
Summary
В общем случае, для автоматизации различных производственных операций применяются многофункциональные многозвенные мани-. Кинематическая схема многозвенного робота манипулятора показана на рис. Работа манипулятора заключается в позиционировании рабочего органа (точка B) в точку с заданными координатами. Для этого используются электроприводы на базе электрических двигателей постоянного или переменного тока. Кроме двигателя, включает схему управления, редуктор, датчики. Состояние манипулятора описывается прямой и обратной задачами кинематики [3]. Прямая задача – вычисление координат (X, Y) положения рабочего органа манипулятора по его кинематической схеме с заданными длинами звеньев (L1, L2, ..., Ln) и их ориентацией φ (здесь n – число степеней свободы манипулятора). Обратная задача – вычисление углов (φ1, φ2, ..., φn) по заданному положению рабочего органа в точке В(X, Y)
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