AN IMPROVED METHOD OF CONTROLLING A ROBOT WITH A MANIPULATOR

Abstract

For academic or industrial manipulator robots, the key task is to achieve the desired positions and orientation of their end mechanisms or tools to perform a given task. To achieve this goal, it is necessary to have thorough knowledge of inverse kinematic problems. Robotic manipulators are used in many industries to perform various tasks such as material handling, pick and place, interactive work, collaborative work, hazardous field work, etc.

Therefore, increasing efficiency, interaction with the robot manipulator, solving direct and inverse kinematic problems using the representation and optimization mechanism, selection and placement operations using the capture mechanism, interactive work of several robots in MATLAB, are really relevant tasks.

Manipulator robots can be considered as a group of rigid joints connected by specific connections. Joints can be rotary, prismatic, screw, universal or cylindrical. A manipulator robot is considered to be one in which the first link is fixed in the base, and the last link can move in the working space.

The article developed a simulation model of a robot manipulator with three degrees of freedom. From the obtained graphs, which display the vector of movement of the end joint of the manipulator robot, it can be concluded that the z coordinate changes over time. This is explained by the fact that a robot manipulator with three degrees of freedom is used, which can move along three coordinates x, y and z.

A 3-D visualization of the movement of the robot manipulator with three degrees of freedom has been carried out, which allows you to study the movement of the joints of the manipulator robot, determine their coordinates, as well as adjust the PD controllers for each joint. This allows dynamic modeling of the movement of the manipulator robot to achieve the maximum possible speed of movement of the joints and the maximum possible accuracy of positioning of the working organ of the manipulator robot.