Abstract
In this paper, a DH model of industrial robot, with anthropomorphic configuration and five degrees of freedom - Mitsubishi RV2AJ, is developed. The model is verified on the example robot Mitsubishi RV2AJ. In paper detailed represented the complete mathematical model of the robot and the parameters of the programming. On the basis of this model, simulation of robot motion from point to point is performed, as well as the continuous movement of the pre-defined path. Also, programming of industrial robots identical to simulation programs is made, and comparative analysis of real and simulated experiment is shown. In the final section, a detailed analysis of robot motion is described.
Highlights
The model is verified on the exaple robot Mitsubishi RV2AJ
for symbolic robot dynamic modeling used for control design
A detailed analysis of robot motion is described
Summary
Nezavisno od konstrukcije robota potreban je univerzalni način koji u potpunosti opisuje položaj robota i trajektoriju po kojoj se kreće. Za rešavanja problema direktne i inverzne kinematike robota, definiše se referentni pravougli koordinatni sistem koji se postavlja u bazu robota, na osnovu koga se odreñuju spoljašnje koordinate (x, y, z) vrha robota u prostoru. Na vrhu robota postavlja se koordinatni sistem alata, tako da se prilikom rešavanja kinematike robota vrši transformacija koordinata u odnosu na referentni koordinatni sistem. Unutrašnje koordinate robota predstavljaju skalarne veličine koje opisuju relativni položaj jednog segmenta u odnosu na drugi segment kinematskog para. Spoljašnje koordinate robota opisuju položaj radnog alata robota u odnosu na referentni koordinatni sistem. Za rešavanje direktnog kinematskog problema, prvi korak predstavlja definisanje simboličke šeme robota u odnosu na referentni koordinatni sistem i definisanje nultog položaja robota. Ove koordinate se mogu zadati u prostoru unutrašnjih ili spoljašnjih koordinata. Polinom kojim se vrši interpolacija kretanja robota po zglobovima dobija oblik:
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