619.KINEMATIC MODELLING AND ANALYSIS OF SERIAL MANIPULATOR

Authors

  • Domazetovska Simona Faculty of Mechanical Engineering, "Ss. Cyril and Methodius" University in Skopje, Karpoš II bb, P.O. box 464, 1001 Skopje, Republic of North Macedonia
  • Mickoski Hristijan Faculty of Mechanical Engineering, "Ss. Cyril and Methodius" University in Skopje, Karpoš II bb, P.O. box 464, 1001 Skopje, Republic of North Macedonia
  • Djidrov Marjan Faculty of Mechanical Engineering, "Ss. Cyril and Methodius" University in Skopje, Karpoš II bb, P.O. box 464, 1001 Skopje, Republic of North Macedonia

DOI:

https://doi.org/10.55302/MESJ19371-2619077d

Keywords:

serial robots, serial robot kinematics, manipulator, PID control

Abstract

The purpose of this paper is modelling and simulation of serial manipulator type with four rotating joints (RRRR). CAD model was developed by using the software SolidWorks for modelling the serial manipulator. Simulation model of serial robot is made by conversion from SolidWorks to Matlab/Simulink. The serial robot can be shown schematic as a kinematic connection of rigid bodies that are interconnected using rotary kinematic pairs. The manipulator movement is defined so the movement of each member is related to the previous one. The position and orientation of the gripper must be defined to ensure safe handling. In this paper, the steps needed to model the serial manipulator together with all its components, its transfer into Simulink and its Proportional Integral Derivative (PID) controlling and simulation is described. The obtained results for velocity and acceleration in kinematic pairs contribute in detailed analysis of kinematics and control design.

References

Kurfess, T. R.: Robotics and Automation Handbook. CRC Press, 2004.

Ogata, K.: Modern Control Engineering (pp. 6142–6143). Upper Saddle River, NJ, Prentice Hall, 2009.

Piltan, F., Emamzadeh, S., Hivand, Z., Shahriyari, F., Mirazaei, M.: PUMA-560 robot manipulator position sliding mode control methods using MATLAB/SIMULINK and their integration into graduate/undergraduate nonlinear control, robotics and MATLAB courses. International Journal of Robotics and Automation, 3 (3), 106–150 (2012).

Iqbal, J., Islam, R. U., Khan, H.: Modelling and analysis of a 6 DOF robotic arm manipulator. Canadian Journal on Electrical and Electronics Engineering, 3 (6), 300–306 (2012).

Clothier, K. E., Shang, Y.: A geometric approach for robotic arm kinematics with hardware design, electrical design, and implementation. Journal of Robotics, Volume 2010, Article ID 984823, 10 pages, http://dx.doi.org/10.1155/2010/984823.

Mickoski, H., Mickoski, I., Djidrov, M.: Dynamic modelling and simulation of three-member robot manipulator. Mathematical Models in Engineering, Vol. 4, Issue 4, pp. 183–190 (2018).

Sahu, S., Biswal, B. B., Subudhi, B.: A novel method for representing robot kinematics using quaternion theory, 2008.

Popovic, N., Williams, S., Schmitz-Rode, T., Rau, G., Disselhorst-Klug, C.: Robot-based methodology for a kinematic and kinetic analysis of unconstrained, but reproducible upper extremity movement. Journal of Biomechanics, 42 (10), 1570–1573 (2009).

Wang, Z., Ding, X., Rovetta, A., Giusti, A.: Mobility analysis of the typical gait of a radial symmetrical sixlegged robot. Mechatronics, 21 (7), 1133–1146 (2011).

Tanev, T. K.: Kinematics of a hybrid (parallel–serial) robot manipulator. Mechanism and Machine Theory, 35 (9), 1183–1196 (2000).

Mata, V., Provenzano, S., Valero, F., Cuadrado, J. I.: Serial-robot dynamics algorithms for moderately large numbers of joints. Mechanism and Machine Theory, 37 (8), 739–755 (2002).

Sariyildiz, E., Temeltas, H.. Solution of inverse kinematic problem for serial robot using dual quaterninons and Plücker coordinates. In 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, IEEE, 2009, July, pp. 338–343.

Kieffer, J.: A path following algorithm for manipulator inverse kinematics. In: Proceedings. IEEE International Conference on Robotics and Automation, IEEE, 1990, May, pp. 475–480.

Downloads

Published

12-06-2020