MODELLING AND SIMULATION OF A PICK&PLACE SYSTEM USING MODELICA MODELLING LANGUAGE AND AN INVERSE KINEMATICS APPROACH

被引：0
|
作者：
Monteiro A. [1 ]
Pereira F. [1 ]
Santos A.A. [2 ,3 ]
Machado J. [1 ]
Oliveira M. [4 ]
机构：
[1] MEtRICs Research Center, School of Engineering, University of Minho, Campus of Azurém, Guimarães
[2] School of Engineering (ISEP), Polytechnic of Porto (P.Porto), R. Dr. António Bernardino de Almeida 431, Porto
[3] INEGI, Institute of Science and Innovation in Mechanical Engineering and Industrial Engineering, R. Dr. Roberto Frias, Porto
[4] Aveiro-North Polytechnic School, University of Aveiro, Oliveira de Azeméis
来源：
International Journal of Mechatronics and Applied Mechanics | 2024年 / 2024卷 / 16期
关键词：
ABB IRB-140; Inverse Kinematics; Modelica; Pick&Place; Simulation; Six-axis Robot;
D O I：
10.17683/ijomam/issue16.1
中图分类号：
学科分类号：
摘要：
Modelica is a powerful modelling language for modelling and simulation of Multiphysics Engineering Systems behaviour. This work explores a model to be implemented in the control design of a 6-axis industrial manipulator whose structure approaches the robotic arm ABB IRB 140, through inverse kinematics calculation. The significance of an inverse kinematics model is to bring accuracy to the reference inputs into a closed-loop control system involved in an industrial setting. Inverse kinematics can complement the path planner or trajectory generator function in object-oriented Modelica language, optimizing the study of an industrial robot physical process such a Pick&Place system. Finally, obtained results are extrapolated for similar cases and applications. © 2024, Cefin Publishing House. All rights reserved.
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页码：7 / 17
页数：10
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