Using Matlab Software Package in the Curriculum of "Mechatronics and Robotics"

This report examines the synthesis of mathematical and simulation models of robotic systems using the MATLAB software package as the foundation for mastering basic skills in the design and control of robotic systems. The article delineates tasks of mathematical modeling in the training of specialists in the field of robotic systems control. The paper represents the software structure for the simulation of manipulation systems based on the description of the considered objects in the form of kinematic and dynamic models. The authors propose a general approximate research plan for such simulations. The article examines the process of constructing a mathematical model of multi-coordinate technological robot with sequential kinematics and six degrees of mobility, working in angular spherical coordinate system. This model allows specialists to explore the manipulator motion when developing various technological trajectories, analyze errors and dynamic loads in joints arising during functioning, implement various control algorithms and estimate the accuracy of their performance.