利用数学和CAD模型对六自由度机器人进行建模和仿真

2016 4th International Conference on Control Engineering & Information Technology (CEIT) Pub Date : 2016-12-01 DOI:10.1109/CEIT.2016.7929054

Wafa Ghozlane, J. Knani

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引用次数: 4

摘要

本文的目的是提出一种六自由度机械臂机器人的仿真方法。该方法旨在解决在非线性系统的数学建模和控制验证中缺乏实际机器人操作的问题。首先对机器人机械手的几何结构进行了描述，然后利用该方法创建了该仿真器，并利用SimMechanics/MATLAB和SolidWorks对CAD模型进行了动力学仿真，然后给出了计算数学动力学模型所采用的算法，并对各关节的惯性参数和质量进行了辨识。最后，将CAD模型仿真结果与数学动态模型仿真结果进行比较。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Modelling and simulation using mathematical and CAD model of a robot with six degrees of freedom

The purpose of this paper is to propose a method for simulation of a manipulator robot with six degrees of freedom. This method is oriented to solve the problem of absence of real robots which will operate it in validation of mathematical modeling and control of the nonlinear systems. It described in the first part the geometry of the robot manipulator, then the method is used to create this simulator and simulated the dynamics of CAD model using SimMechanics/MATLAB and SolidWorks, after that, it will present the algorithm adopted to calculate the mathematical dynamic model and identify the inertial parameters and mass of each joint. Finally, it will make a comparison between the results of CAD model simulation and the result obtained from the mathematical dynamic model simulation.

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2016 4th International Conference on Control Engineering & Information Technology (CEIT)

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