Simulation And Analysis For Five-DOF Robot Manipulator Movement And Control

Application of industrial robot is more and more extensive with the continuousdevelopment of industry and the progress of science and technology. Research on theIndustrial robot can improve its work efficiency and operation performance. Robotkinematics, dynamics and control theory are the important foundation in the field of industrialrobot.This paper studies the5-DOF robot manipulator designed in our laboratory. The mainjobs are Modeling, simulation and analysis on kinematics, dynamics and control of themanipulator.Firstly, the virtual prototype of the robot manipulator in ADAMS is created after a3Drobot manipulator established in Pro/E software. The assembly file in the form of Parasolid inPro/E is imported into ADAMS, after there is no interference with the components ofmanipulator both in static and dynamic.Secondly, the paper addresses kinematic modeling, simulation and analysis of the robotmanipulator. The kinematic model of the robot manipulator was established by using D-Hparameters, the kinematic equations derived, and the inverse kinematic solution calculated byusing algebraic methods. And the robot manipulator model was set up by using the RoboticsToolbox for MATLAB, the forward and inverse kinematics calculated, and simulated visually.The kinematics of the robot manipulator is also simulated with the ADAMS virtual prototype.Thirdly, the paper addresses dynamic modeling, simulation and analysis of the robotmanipulator. The inverse dynamic model of the manipulator was set up based on the Newton-Euler iterative dynamics algorithms, and the general form of the inverse dynamics equationswas gotten. And the forward and inverse dynamic simulation was done by using the RoboticsToolbox for MATLAB. The inverse dynamics of the robot manipulator is also simulated withby the ADAMS virtual prototype.Finally, the paper addresses control modeling, simulation and analysis of the robotmanipulator. On one hand, the control model of a single joint was established, kinematic oneof the robot manipulator was established based on control-law partitioning approach, andco-simulation with ADAMS and MATLAB was made. The simulation results show that the system has good dynamic performance for step response and trajectory tracking. On the otherhand, the dynamic control model of the robot manipulator was established based on thecomputed torque method, and a simulation system was built by using the Robotics Toolboxfor MATLAB. And the simulation results show the system has the capability of accuratetrajectory tracking.