THE MODELING AND SIMULATION OF A ROBOTIC ARM

Abstract

A complex manipulator that includes robot arms can pick up and manipulate everything from delicate objects to large payloads. Every mechanism in the manipulator must be defined as an object, with information describing all the forces associated with the object's motion or tasks. This includes rotation and position matrices, center of mass, inertia, external torque and forces acting on it, motor torque, elastic torque etc. An operator must construct a graphical model, using a Matlab-Simulink program to describe the robot system's topology. The operator drags and drops object blocks from a library, links them together.