Mathematical Modeling of the Dynamics of 3-DOF Robot-Manipulator with Software Control

摘要

The paper presents a general method for constructing a mathematical model of multi-link robot-manipulators. For the 3-DOF manipulator, kinematic equations and differential equations of dynamics are obtained. To study mathematical models of the dynamics of robotic manipulators and applications in software control systems, it is necessary to develop special analytical methods for solving systems of differential equations. An analytical method of transformations applied for the study of mathematical models of the dynamics of 3-DOF robot-manipulators. The method allows to obtain a solution in an analytical form, taking into account all nonlinear components of the system of differential equations. The software package for study of nonlinear mathematical models was developed and implemented. The problem of software control of electric drives of 3-DOF robot-manipulator is considered and control actions are determined that ensure the fulfillment of a given trajectory by the manipulator. The method for constructing and analyzing a mathematical model of manipulators presented in this work can be used to study a wide class of multi-link manipulators with many degrees of freedom.