ARTICULATED ROBOTIC ARM SIMULATION AND CONTROL

Abstract

In this paper is presented the mathematical model for five degrees of mobility robot using cinematic direct and inverted method. Based on this model is designed the hardware-in-the-loop (HIL) simulation. Using the mathematical model and the simulation results a software controller is written and tested. The robot is controlled by software implemented on a PC connected to the robot by an electronic interface. Mathematical model and the software allow generating very precisely robot elements trajectories and easily implementing advanced algorithms. At the end of the paper there are presented two applications to control an educational robot based on direct and inverted models.