IMPLEMENTACIJA MATEMATIČKOG MODELA I USPOREDBA UPRAVLJAČKIH ALGORITAMA RUKE INDUSTRIJSKOG ROBOTA

  • Ivan Šulekić Tehničko veleučilište u Zagrebu
  • Krešimir Osman
  • Zvonimir Lavrić Tehničko veleučilište u Zagrebu
##plugins.pubIds.doi.readerDisplayName##: https://doi.org/10.19279/TVZ.PD.2022-10-3-09

Sažetak

The paper presents research on the development
of a mathematical model and control algorithms
for an industrial robot arm. Starting from the
simplified architecture of the robot in plain view,
a mathematical model of the direct kinematics
with the representation of the position of the
robot arm tool is derived. Based on this, the
equations of inverse kinematics are derived,
which provide the equations for the variables of
the angles in the spaces of the ankle. In addition,
a dynamic model of the actuator moments in
the joints was created. Three algorithms for
torque control with PD and PI controllers were
proposed for the rotation of the robot joints
in which the servo motors are located, as well
as for the control with the contact force of the
robot tool. The mathematical models and control
algorithms were implemented in the computer
program MATLAB Simulink, and a simulation
of the response variables was performed for
each of these algorithms. The simulation results
are presented and a comparison of the given
algorithms is given.

Objavljeno
2022-11-06
Rubrika
Članci