Modeling and control a Robot serving a CNC Didactic Milling Machine

Abstract

Robotics is a very dynamic field, which has been evolving diligently in these recent years.The pandemic disease hitting the world actually is accelerating significantly this development of robotics.The robot is a main factor that helps to ensure the distanciating in order to minimize the spread of this disease (Covid-19).Our contribution concerns mechanical production workshops, in this case, the automatic loading and unloading of a numerically controlled teaching machine, which implanted in our laboratory.The purpose is to reduce the manual manipulation of machine's parts and organs as much as possible, thus limiting the disease's spread by touch.In this work, we have developed all the models necessary to control the serial robot with six degrees of freedom.Three of those degrees control the position of the effector, and the three others orient the wrist.For this context, the direct and reversed geometric model, kinematic model and dynamic model were determined.A robot position and speed control methodology is proposed.Many simulations have been effectuated to properly validate the specific models sought