Development of the Programming and Simulation System of 4-axis Robot with Hybrid Kinematic
2022
Autori
Slavković, NikolaŽivanović, Saša
Vorkapić, Nikola
Dimić, Zoran
Ostala autorstva
Rašuo, BoškoStevanović, Vladimir
Sedmak, Simon
Članak u časopisu (Objavljena verzija)
Metapodaci
Prikaz svih podataka o dokumentuApstrakt
This paper presents an approach for developing the programming and offline
simulation systems for low-cost industrial robots in the
MatLab/Simulink environment. The approach is presented in the example
of a virtual model of a 4-axis robot with hybrid kinematics intended for
manipulation tasks. The industrial robot with hybrid kinematics consists of
the well-known 5R planar parallel mechanism to which two serial axes
have been added. The programming system developed in a MatLab
environment involves generating G-code programs based on given pick
and place points. The virtual model included in the simulation system is
configured in the Simulink environment based on the CAD model of the
robot and its kinematic structure. The kinematic model and the inverse
kinematic problem have to be included in the virtual model to realize the
motion of the virtual robot. The system of programming and simulation has
been verified through several examples that include object manipulation to
...perform various tasks.
Ključne reči:
kinematics / programming / virtual model / MatLab/Simulink / CAD systemIzvor:
FME Transactions, 2022, 50, 3, 403-411Izdavač:
- Belgrade : Faculty of Mechanical Engineering
Finansiranje / projekti:
- Razvoj nove generacije domaćih obradnih sistema (RS-MESTD-Technological Development (TD or TR)-35022)
- MISSION4.0 - Deep Machine Learning and Swarm Intelligence-Based Optimization Algorithms for Control and Scheduling of Cyber-Physical Systems in Industry 4.0 (RS-ScienceFundRS-AI-6523109)
Kolekcije
Institucija/grupa
Mašinski fakultetTY - JOUR AU - Slavković, Nikola AU - Živanović, Saša AU - Vorkapić, Nikola AU - Dimić, Zoran PY - 2022 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4621 AB - This paper presents an approach for developing the programming and offline simulation systems for low-cost industrial robots in the MatLab/Simulink environment. The approach is presented in the example of a virtual model of a 4-axis robot with hybrid kinematics intended for manipulation tasks. The industrial robot with hybrid kinematics consists of the well-known 5R planar parallel mechanism to which two serial axes have been added. The programming system developed in a MatLab environment involves generating G-code programs based on given pick and place points. The virtual model included in the simulation system is configured in the Simulink environment based on the CAD model of the robot and its kinematic structure. The kinematic model and the inverse kinematic problem have to be included in the virtual model to realize the motion of the virtual robot. The system of programming and simulation has been verified through several examples that include object manipulation to perform various tasks. PB - Belgrade : Faculty of Mechanical Engineering T2 - FME Transactions T1 - Development of the Programming and Simulation System of 4-axis Robot with Hybrid Kinematic EP - 411 IS - 3 SP - 403 VL - 50 DO - 10.5937/fme2203403S ER -
@article{ author = "Slavković, Nikola and Živanović, Saša and Vorkapić, Nikola and Dimić, Zoran", year = "2022", abstract = "This paper presents an approach for developing the programming and offline simulation systems for low-cost industrial robots in the MatLab/Simulink environment. The approach is presented in the example of a virtual model of a 4-axis robot with hybrid kinematics intended for manipulation tasks. The industrial robot with hybrid kinematics consists of the well-known 5R planar parallel mechanism to which two serial axes have been added. The programming system developed in a MatLab environment involves generating G-code programs based on given pick and place points. The virtual model included in the simulation system is configured in the Simulink environment based on the CAD model of the robot and its kinematic structure. The kinematic model and the inverse kinematic problem have to be included in the virtual model to realize the motion of the virtual robot. The system of programming and simulation has been verified through several examples that include object manipulation to perform various tasks.", publisher = "Belgrade : Faculty of Mechanical Engineering", journal = "FME Transactions", title = "Development of the Programming and Simulation System of 4-axis Robot with Hybrid Kinematic", pages = "411-403", number = "3", volume = "50", doi = "10.5937/fme2203403S" }
Slavković, N., Živanović, S., Vorkapić, N.,& Dimić, Z.. (2022). Development of the Programming and Simulation System of 4-axis Robot with Hybrid Kinematic. in FME Transactions Belgrade : Faculty of Mechanical Engineering., 50(3), 403-411. https://doi.org/10.5937/fme2203403S
Slavković N, Živanović S, Vorkapić N, Dimić Z. Development of the Programming and Simulation System of 4-axis Robot with Hybrid Kinematic. in FME Transactions. 2022;50(3):403-411. doi:10.5937/fme2203403S .
Slavković, Nikola, Živanović, Saša, Vorkapić, Nikola, Dimić, Zoran, "Development of the Programming and Simulation System of 4-axis Robot with Hybrid Kinematic" in FME Transactions, 50, no. 3 (2022):403-411, https://doi.org/10.5937/fme2203403S . .