基于MATLAB、Simulink和TwinCAT的机械臂仿真与控制

2020 International Conference on Advanced Robotics and Intelligent Systems (ARIS) Pub Date : 2020-08-01 DOI:10.1109/ARIS50834.2020.9205777

Wei-chen Lee, Shih-an Kuo

{"title":"基于MATLAB、Simulink和TwinCAT的机械臂仿真与控制","authors":"Wei-chen Lee, Shih-an Kuo","doi":"10.1109/ARIS50834.2020.9205777","DOIUrl":null,"url":null,"abstract":"It is challenging to develop robot applications without viewing the robot movement. Besides, it is tedious to establish motion paths and adjust controller parameters using the real robot if there is no simulation program available. To resolve the issues for a low-cost robot, we developed a system that integrated kinematics and motion control simulation using MATLAB and Simulink. The system can then be connected to a real robot by using TwinCAT to verify the simulation results. Case studies were conducted to demonstrate that the system worked well and can be applied to those robotic arms without simulators.","PeriodicalId":423389,"journal":{"name":"2020 International Conference on Advanced Robotics and Intelligent Systems (ARIS)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Simulation and Control of a Robotic Arm Using MATLAB, Simulink and TwinCAT\",\"authors\":\"Wei-chen Lee, Shih-an Kuo\",\"doi\":\"10.1109/ARIS50834.2020.9205777\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"It is challenging to develop robot applications without viewing the robot movement. Besides, it is tedious to establish motion paths and adjust controller parameters using the real robot if there is no simulation program available. To resolve the issues for a low-cost robot, we developed a system that integrated kinematics and motion control simulation using MATLAB and Simulink. The system can then be connected to a real robot by using TwinCAT to verify the simulation results. Case studies were conducted to demonstrate that the system worked well and can be applied to those robotic arms without simulators.\",\"PeriodicalId\":423389,\"journal\":{\"name\":\"2020 International Conference on Advanced Robotics and Intelligent Systems (ARIS)\",\"volume\":\"71 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2020-08-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2020 International Conference on Advanced Robotics and Intelligent Systems (ARIS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ARIS50834.2020.9205777\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 International Conference on Advanced Robotics and Intelligent Systems (ARIS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ARIS50834.2020.9205777","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 3

摘要

在不观察机器人运动的情况下开发机器人应用程序是具有挑战性的。此外，在没有仿真程序的情况下，利用真实机器人建立运动路径和调整控制器参数是非常繁琐的。为了解决低成本机器人的问题，我们利用MATLAB和Simulink开发了一个集运动学和运动控制仿真于一体的系统。然后，该系统可以通过TwinCAT与真实机器人连接，验证仿真结果。实例研究表明，该系统运行良好，可应用于无模拟器的机械臂。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Simulation and Control of a Robotic Arm Using MATLAB, Simulink and TwinCAT

It is challenging to develop robot applications without viewing the robot movement. Besides, it is tedious to establish motion paths and adjust controller parameters using the real robot if there is no simulation program available. To resolve the issues for a low-cost robot, we developed a system that integrated kinematics and motion control simulation using MATLAB and Simulink. The system can then be connected to a real robot by using TwinCAT to verify the simulation results. Case studies were conducted to demonstrate that the system worked well and can be applied to those robotic arms without simulators.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2020 International Conference on Advanced Robotics and Intelligent Systems (ARIS)

自引率

0.00%

发文量