| Along with the improving labor costs and the reducing human resources, it hasbecome all enterprises’ concerns．How to reduce the production cost, improve productingefficiency and improve the competitiveness of enterprises. So is the manufacturingindustry. Industrial robot has gradually occupied all production site that has advantages ofhigh efficiency, high precision, less humanizing and unmanned. And it has become animportant means for enterprises to improve the market competitiveness.From the control point of view, robot system is a complex dynamic couplingsystem. Its complexity and nonlinear is obvious. Compared with the traditional designmethod of robot to make a physical prototype, and compared on its performance, and thenrepeated the test before you can improve it. It is difficult to effectively improve theperformance of the robot and will spend a lot of resources, power and time. By the use ofvirtual prototype technology to research and develop the robot, its parameterized model ofkinematics, dynamics and control system simulation can be directly and convenientlyobserve and analysis of the advantages and disadvantages of the virtual model of therobot, and then analyzes their performance and improvement. Then find a simpler path toimprove the development efficiency and reduce the development costs of robot.This thesis has mainly talked about the six series freedom robot (for example,HA006industrial robot). And its kinematics simulation and control system have beendesigned. The position and posture of the HA006robot has been discussed. With themethod of D-H parameters and the basis on the homogeneous transformation matrix, theHA006robot kinematics equation has been built. The positive kinematics solution andinverse solution of the robot and has analyzed its Jacobi matrix has been studied. Andthen the dynamic equation and up to the space of robot have been carried on thepreliminary study.In computer, the virtual models of HA006industrial robots has been observed andanalyzed. It is clearly determined that the robot motion plan is reasonable. Through theimages, the trajectory planning and the of the control algorithm are feasible. It makes theindustrial robot to improve the design efficiency greatly. The characteristics of Robotics Toolbox based on MATLAB software platform hasbeen simply introduced. On the basis, the model of HA006industrial robot has beencompleted. And the simulation computation of inverse kinematics has been carried on.For the six series robot (for example, HA006industrial robots), its trajectory hasbeen planned. First of all, a robot entity model has been built by Solidworks softwareplatform, and then, on the basis of the formula, simulation and analysis have been carriedon to motor system by robot toolbox of MATLAB. It has showed movements of thereal-time process and a lot of useful curve parameter data in the process. In order tocontrol the conditions of the system design, create conditions to suit the requirements ofgood.By using ADAMS simulation software on HA006robot, as an example, the authorhas analyzed the robot’s kinematics and dynamics. ADAMS software is more difficult toestablish the accurate and complex3D model entity. It often can affect the accuracy of thesimulation analysis. Therefore, it is more accurate for Solidworks than the ADAMSsoftware to build a robot model, the author has used Solidworks software platform tobuild HA006robot model, and then put it into ADAMS software platform in themodification of the properties. Finally, a relatively simple kinematics simulation has beenanalyzed on ADAMS platform.By using the software ADAMS and MATLAB, the HA006robot joint controlsystem has been simulated. Powerful MATLAB software calculation analysis makes itpossible to build a model of a control system quickly and easily. By ADAMS andMATLAB, it has made the true of the more real industrial robot joint control system thatthe robot’s mechanical part and control part of the simulation combined. It has the goodquality, high efficiency, good real-time and visibility that the author combines the robotcontrol system modeling and simulation method with MATLAB and ADAMS technology.This method can also be applied to other virtual simulation of complex mechanicalsystem, it is of vital significance to improve the product design performance, reduce thedesign cost and reduce product development time. |
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