Dynamic Analysis and Visualization of Spatial Manipulators with Closed Structure

Damić, Vjekoslav; Cohodar, Maida

doi:10.2507/26th.daaam.proceedings.016

Cited by 4 publications

(8 citation statements)

References 5 publications

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“…Research into the performance of industrial robots has drawn the attention of many researchers and goes in many directions. Many works are devoted to the dynamic analysis of robots [6].…”

Section: Introductionmentioning

confidence: 99%

Pid and LQR Controllers Applied to the Inverse Dynamics of a 3-Dof Manipulator

Batista¹,

Souza²,

Reis³

et al. 2021

bjdv

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The application in the industrial manipulator robots has grown over the years making production systems increasingly efficient. Within this context, the need for efficient controllers is required to perform the control of these manipulators. In this work the PID controller (Proportional-Integral-Derivative) and LQR (Linear Quadratic Regulator) is presented from the inverse dynamics model of a RPP (Rotational - Prismatic - Prismatic) cylindrical manipulator. The inverse dynamic model which is modeled on Simulink together with a cascaded PID controller is presented. The PID and LQR results are also presented for joint independent and joint dependent control, i.e a controlled PID is used for each joint, controlling the trajectories and speeds at the same time. This paper has as main contributions the development of the manipulator dynamics model and the design of the LQR and PID controllers applied to the inverse dynamics model, which makes the system simpler to control.

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“…Research into the performance of industrial robots has drawn the attention of many researchers and goes in many directions. Many works are devoted to the dynamic analysis of robots [6].…”

Section: Introductionmentioning

confidence: 99%

Pid and LQR Controllers Applied to the Inverse Dynamics of a 3-Dof Manipulator

Batista¹,

Souza²,

Reis³

et al. 2021

bjdv

View full text Add to dashboard Cite

show abstract

“…These tools facilitate work in analysing, modelling, simulating, and designing control laws for complex mechanical structures. By interconnecting these resources, a considerable simplification of the synthesis can be achieved -as well as clarity, by using visualisation in 3D space directly in the regulation process, or by creating a physical model in Simulink directly from CAD software (SolidWorks), without the need to derive the motion equations [3,10].…”

Section: Introductionmentioning

confidence: 99%

“…The mathematical model´s outputs or captured laboratory model variables (for virtual animation purposes) are used as 3D Animation model inputs [6,9]. These parameters are converted into the appropriate format by a transformation matrix using Euler parameters [1,3,4].…”

Section: Introductionmentioning

confidence: 99%

Simulation and Visualisation of a Laboratory Model by Support Software Tools Connection

Zátopek¹

2016

Proceedings of the 27th International DAAAM Symposium 2016

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This article introduces the possibilities of the simulation and visualisation of the "Twin-Rotor MIMO System" laboratory model outputs by means of various support software tools. The 3D model of the system, (used for simulation and visualisation), is designed in SolidWorks 3D CAD software. Matlab/Simulink with extension libraries like Simscape and 3D Animation -(formerly Virtual Reality Toolbox), is used for 3D visualisation and simulation. The 3D Animation toolbox is only used for the visualisation of the mathematical and real models. The Simscape library -on the other hand, is used for the validation of the reverse control of the derived mathematical model´s correctness and for simulation and analysis purposes as a suitable substitution for real models. As a result of this, these supporting software tools streamline the overall suggested controls -from analysis to presentation of the results.

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“…Each part has an associated local coordinate system, the material and joins each other by structural bonds to the final fully bonded assembly [12,14,15,16]. The CAD model has 6 degrees of freedom (DOF) [3,18] generally, but the first 3 joints have the most interesting dynamic behaviour and will be studied in this paper. Therefore, the last 3 DOF (parts 7, 8 and 9 in Fig.…”

Section: Cad Modelmentioning

confidence: 99%

“…It is based on inertia matrices [4,11], transformation matrices [1,3,14,17,20], centres of mass position vectors [2,16] and model masses. All of these parameters are taken from the SolidWorks CAD model.…”

Section: Th Daaam International Symposium On Intelligent Manufacturmentioning

confidence: 99%

Dynamic Behaviour Comparison of Three Different Mathematical Model Complexities

Zátopek¹,

Urednicek²

2017

DAAAM Proceedings

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Dynamic behaviour comparison of three different mathematical descriptions complexity for first 3 joints of 6 degrees of freedom robotic structure is presented in this article. Firstly, 3D CAD model is designed in SolidWorks, which is used as the basis for a physical and mathematical model. The CAD model is exported directly from SolidWorks to SimMechanics as a physical model which is considered as the most accurate replacement for a real model in this work. The first type of a mathematical model is the most precise but also the most complex; it is based on SolidWorks inertia matrices and matrix form of Lagrange's motion equations of the second kind. The second type of a mathematical model is created by each part replacement with a suitable simplified shape; classical integration approach with Lagrange's motion equations of the second kind is used. The third type of a mathematical model is based on the same approach as the second type, but all the objects are replaced by mass points. At the end, all the results of dynamic behaviour are compared with the physical model, for utilization in controller design.

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Dynamic Analysis and Visualization of Spatial Manipulators with Closed Structure

Cited by 4 publications

References 5 publications

Pid and LQR Controllers Applied to the Inverse Dynamics of a 3-Dof Manipulator

Pid and LQR Controllers Applied to the Inverse Dynamics of a 3-Dof Manipulator

Simulation and Visualisation of a Laboratory Model by Support Software Tools Connection

Dynamic Behaviour Comparison of Three Different Mathematical Model Complexities

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