Article · February 010 doi: 10. 1109/conielecomp. 2010. 5440751 citations 23 reads 8,079 authors
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5-DOFManipulatorSimulationbasedonMATLABSimulinkmethodology
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See discussions, stats, and author profiles for this publication at: https://www.researchgate.net/publication/251923656 5DOF manipulator simulation based on MATLAB-Simulink methodology Article · February 2010 DOI: 10.1109/CONIELECOMP.2010.5440751 CITATIONS 23 READS 8,079 4 authors , including: Luis Garcia-Valdovinos Center for Engineering and Industrial Development 53 PUBLICATIONS 585 CITATIONS SEE PROFILE Jesus Carlos Pedraza Ortega Autonomous University of Queretaro 153 PUBLICATIONS 769 CITATIONS SEE PROFILE All content following this page was uploaded by Jesus Carlos Pedraza Ortega on 03 June 2014. The user has requested enhancement of the downloaded file. Abstract Abstract— This work presents a novel simulation methodology applied to a 5-DOF manipulator. The work includes mathematical modeling of the direct, inverse and differential kinematics as well as the dynamics of the manipulator. The method implements the path following in the 3D space and uses the Matlab-Simulink approach. Several paths were tested to verify the method. This methodology can be used with different robots to test the behavior and control laws. Keywords— Simulation methodology, Simulink, Manipulator 1. INTRODUCTION Robotics is one of the main disciplines in the industry which can be used in the development of new technologies. The synergy of robotics with the different applications like submarine task, car assembly operation, vision systems and artificial intelligence allows the innovation and reduces the manufacture costs. For this purpose, it is important that the robot programmers are able to visualize and test the behavior of the robots in different circumstances and with different parameters. There are several programming algorithms to simulate robotic systems [1]; some of them use the link and joint positions, however, mainly the path following in the Cartesian work space are visually showed by lineal plots [2]. Some other works only make a 3D virtual animation [3]. Other works only show the kinematic modeling in a mixed programming environment like C++ and OpenGL [4], also, some multiple interface programming technique has been developed using Matlab, C++ and OpenGL [5][6]; in both cases, the computational time increases, and is quite complicated to manage the different programming tools. Finally, some research that presents an interface between Matlab and Simulink is used to simulate a mechatronic system [7], however, it doesn’t have a visual representation like the one proposed in this article. The main objective of the present work is to show a complete simulation methodology using the same programming platform, where, the combination of Matlab and Simulink is proposed. Here, the mathematical calculations are performed at the same time than its virtual representation. The method allows to manipulate the robotic system and to visualize the robot’s behavior from different perspectives. To test the methodology, a manipulator robot with 5-DOF as shown on figure 1 (Thermo Scientific CATALYST-5) is used, this robot has the capability to load a maximum of 1.5 kg. A PD+G (Proportional Derivative with Gravity Compensation) control is implemented based on a dynamic modeling. Figure 1. Catalyst-5 Robot The robot specifications are presented on table 1: Link 1 length Link 1 mass l1 m1 0.2504 9.0 m kg Link 2 length Link 2 mass l2 m2 0.2504 2.0 m kg Link 3 length Link 3 mass l3 m3 0.2504 1.0 m kg Link 4 length Link 4 mass l4 m4 0.0 0.4 m kg Link 5 length Link 5 mass l5 m5 0.51 0.3 m kg Gravity acceleration G 9.81 m/s 2 Table 1. Robot specifications 2. KINEMATIC MODELING The dynamic modeling of a manipulator robot with n- degree of freedom (DOF.) can be divided in four steps: Direct Kinematics, Inverse Kinematics, Differential Kinematics and Dynamics. 5-DOF Manipulator Simulation based on MATLAB- Simulink methodology Velarde-Sanchez J.A., Rodriguez-Gutierrez S.A., Garcia-Valdovinos L.G., Pedraza-Ortega J.C., PICYT-CIDESI, CIDIT-Facultad de Informatica, Universidad Autonoma de Queretaro, Queretaro, Mexico. velardeartur@yahoo.com.mx, sergioarg@prodigy.net.mx, ggarcia@cidesi.mx, caryoko@yahoo.com 978-1-4244-5353-5/10/$26.00 ©2010 IEEE 295 Download 0.91 Mb. Do'stlaringiz bilan baham: 
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