Model Of Industrial Robot Research Articles

Computer-aided Modelling of Industrial Robots

The research in robotics requires efficient and flexible software tools, which supports the user in modelling and simulating the robot dynamics. In order to design a decoupled control of any robot, the exact dynamic models of these robots have to be obtained. This paper presents a computer-aided method, to achieve the dynamic model of any robot. The software first evaluates the basic data of the robot kinematics and dynamics, which are fundamental for the equation of motion and for the digital simualtion of the robot dynamics. Then the tasks of an industrial controller for any robots are simulated to achieve realistic input values for the evaluation of forces/torques with the equation of motion and for the digital simulation of the robot dynamics. Finally the equation of motion is generated in a numerical-symbolical form.

A Time and Energy Optimal Control of Industrial Robots

The control problem of nonlinear industrial robot model (IRM) hes been reduced to optimal control one of equivalent linear IRM with control and state constraints. Using the concept of the external linearization, the nonlinear control law has been derived. Applying this nonlinear control, the linear behaviour of the nonlinear industrial robot model has been obtained. Introducing the combined minimum time and energy performance index, the time and energy optimal control problem of the equivalent robot model, with the two-point boundary-value problem (initial and final state) and input and state constraints, is solved. Using the procedure of the analytical integration of the equivalent industrial robot model, the full accuracy of the desired final state of IRM has been realized. During the manipulation motions, the joint coordinates are constrained in the sense that they are very monotonous. A short survey of state of the art in control synthesis of IRM is presented. Finally, a numerical example is given

An Automatic Modelling System Used in Computer Aided Design of Industrial Robots

The mathematical equations, which describe the kinematical and dynamical behaviour of an anthropomorfic mechanical structure, are necessary tools for the design of industrial robots. The modelling of mechanical structures in the process of synthesis, has two main goals: the symbolical generation of the movement equations and the calculation of joint forces in the structure. A software system for automatic modelling of industrial robots with closed and open kinematic chains, implemented on a minicomputer, is presented in this paper.

Fast Nonlinear Control with Arbitrary Pole-Placement for Industrial Robots and Manipulators

Models of industrial robots are characterized by highly nonlinear equations with nonlinear couplings between the variables of motion. In this paper, three nonlinear methods are presented, two of which are direct design procedures for industrial robots. These direct nonlinear methods are based on a suitable partition of the dynamic equation of the industrial robot and provide directly applicable, explicit control laws for each drive. The design procedures presented greatly simplify the derivation of the algorithm for computer-controlled industrial robots. The methods are applied to two different types of industrial robots.

Modelling And Simulation Of Robot Arm

The paper deals with the modelling and simulation of industrial robots. To find the best possible control system for robots which were made in our department, corresponding model hod to be develope...