Modelling and simulation using mathematical and CAD model of a robot with six degrees of freedom

Abstract

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.