Modelamiento y simulación de un algoritmo para el control del brazo robótico.

Abstract

The kinematic model was developed for the monotoring and simulation by the computer to the KAWASAKI RS003N robotic arm, wich is located at ESPOCH in the Faculty of Mechanics. The design and modelling of the robotic arm was developed by using SolidWorks and CAD (Computeraided

Design), afterwards, the CAD model was imported to Simulink, while the mechanical structure of the robotic arm in Simulink was defined by means of the SimMechanics tool. After this process, the control algorithm was developed in order to insert the trajectories to the manipulator, and finally, simulation tests were conducted as well as the control of the movements of the robotic arm by using Matlab and Simulink software. The Denavith Hartenberg in the findings reported, makes posible the appropiate control of the movements of the robot. The graphical interface of both, the line diagram and Simulink 3D robot, shows appropriately the positioning and orientation of the according to the commands sent by the user in the control panels, being able to display on the screen the positions of the each of the Robot links as the opening and closing of the gripper. Regarding to the exportation process it is advisable to install the SimMechanics Link previously in order to reduce failures in the system.