Abstract
This paper describes a software package as a tool for modeling, control synthesis and simulation of manipulation robots which are applied for metal machining processes. The package includes various dynamic models of a robot in the contact with a constraint surface. These models are presented and the problems of application of these models for simulation and synthesis of position/force control for manipulation robots are considered. CONMOT (CONstrained MOTion) software enables a large possibility of selection of various control algorithms in dependence of different technological demands and desired system behavior. This paper emphasizes the CONMOT program package both for research and educational purposes. Also, it is shown that this software system represents a useful software tool for computer-aided design of robot controllers in class of specific tasks of robotic metal machining processes.
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