Modeling and simulation of an algorithm for the control of a robotic arm


Abstract. In this paper, we present the development of a kinematic model, for controlling and simulating through computer, a Kawasaki RS 003N robotic arm, which is located at ESPOCH in the Mechanical Engineering Faculty. For this purpose, it has been developed a CAD modeling for the robotic arm using SolidWorks, later on this modeling was imported to Simulink. The 3D modeling of the robotic arm in Simulink has been defined with the aid of a tool called SimMechanics, then the controlling algorithm has been developed to insert trajectories to the manipulator, and finally it has been performed the simulation and control tests for Robotic arm movement using Matlab and Simulink. Within the results of the present research we can emphasize that Dnavith Hatemberg algorithm allows the correct movement of the robotic arm. The graphic interface of both the line diagram and the 3D Simulink Robot correctly shows the positioning and orientation of the robot according to the command emitted by the user in the control panels, being able to visualize the positions of each one of the robot´s links and the opening and closing of the robotic clamp.

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