Modelling and Simulation Using Mathematical and CAD Model of a Robot with Six Degrees of Freedom

被引：0
|
作者：
Ghozlane, Wafa [1 ]
Knani, Jilani [1 ]
机构：
[1] Tunis EIManar Univ, Doctoral Sch Sci & Tech Engineer, Natl Sch Engn Tunis ENIT, Dept Elect Engn,Lab Automat Res LARA, Bp 37, Tunis 1002, Tunisia
来源：
2016 4TH INTERNATIONAL CONFERENCE ON CONTROL ENGINEERING & INFORMATION TECHNOLOGY (CEIT) | 2016年
关键词：
Robot; CAD Model; Mathematical Dynamic Model; Simulator;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The purpose of this paper is to propose a method for simulation of a manipulator robot with six degrees of freedom. This method is oriented to solve the problem of absence of real robots which will operate it in validation of mathematical modeling and control of the nonlinear systems. It described in the first part the geometry of the robot manipulator, then the method is used to create this simulator and simulated the dynamics of CAD model using SimMechanics/MATLAB and SolidWorks, after that, it will present the algorithm adopted to calculate the mathematical dynamic model and identify the inertial parameters and mass of each joint. Finally, it will make a comparison between the results of CAD model simulation and the result obtained from the mathematical dynamic model simulation.
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页数：5
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