Robotic arm dynamic and simulation with Virtual Reality Model (VRM)

摘要

This paper presents a study on control and simulation of the robotic arm system. A dynamic model is designed, and a Virtual Reality Model (VRM) is built for the robot. A kinematic model is represented for the robot links and joints. A simulation module is built by using SIMULINK/SimMechanics and by estimation of motor-gear transfer function. A PID control system (Proportional-Integral-Derivative) is then applied. The virtual model is created by Simulink 3D Animation. OWI-535 robotic arm is an articulated manipulator robot, it was chosen as testing system. The robot was developed with an interface control system. The interface control system is built to perform closed-loop control. Different trajectories were implemented on the robot. The results were shown for the simulated system and real robot in designing accuracy and system control response. Robot followed the desired trajectories efficiently.