Development of a control system for an educational robot manipulator of a parallel structure using model-based design
Abstract
The development of a complex mechanical device with microcontroller control using of model-based design and Mathworks software products is described. The object was a robotic arm based on a parallel structure mechanism with six degrees of freedom. To create a microcontroller control system for this manipulator, a solution to the inverse kinematics problem was proposed. The operability of the model was proved using a moving computer model of geometric primitives in MATLAB. Analysis of the physical properties of developing object was carried out on the basis of its three-dimensional model, implemented by Simscape Multibody package and composed of solid-state models. The operability of the control system hardware was proved by Embedded Systems Toolbox, which also allowed to generate an executive code for selected Arduino Mega 2560 microcontroller board. The manipulator is a complete electromechanical device with cyclic microcontroller control, which allows to move the moving platform according to the predefined trajectories.
Keywords
Supporting agencies: This work was supported in part by a grant from the SERI SFG450 grant and assignment from GPNI IK813
About the Author
R. A. Prakapovich
The United Institute ofInformatics Problems of the National Academy of Sciences of Belarus
Belarus
Belarus
Ryhor А. Prakapovich - Cand. Sci. (Eng.), Associate Professor, Head of the Robotics Systems Department.
MinskReferences
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Review
For citations:
Prakapovich R.A. Development of a control system for an educational robot manipulator of a parallel structure using model-based design. Informatics. 2019;16(4):99-114. (In Russ.)
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