Modeling and simulation of 5DOF robot manipulator and trajectory using MATLAB and CATIA

摘要

In this era, Simulation has been recognized as an important research and a powerful tool supporting the design, planning, analysis and decisions in different areas of research and development because of the lowering computers' costs. Matlab and CATIA software, were used to construct the robot manipulator parametric to model and simulate in 3D space, to determine the end effector position on the trajectory path with use of forward and inverse kinematics and dynamics equations generating of feasible trajectories for successful cooperative manipulation. Several trajectory paths were tested verifying the method for robots behavior and control laws. Different kinematic parameters including joints' angles and positions were determined in CATIA software and compared with MATLAB results, Trajectory path for avoiding obstacles by CATIA software is established and verified with Matlab; then joint's torque quantities were calculated and compared between two manipulator postures. The simulation results verified the conditions for 5R manipulator and trajectory. The comparison of obtained results for end effector moving by the two software were identical. These results are obviously helpful for any serial robot manipulator simulation and modeling of the end effector.