Control of Mechatronic System Based on Multilink Robot-Manipulators
The task of controlling multi-link robots with manipulators for implementation of high-tech processes in industry has been considered in the paper. The paper presents sequential steps of using computer technology in construction of robotic-manipulators, including mathematical, algorithmic, and hardw...
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| Format: | Article |
| Language: | Russian |
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Belarusian National Technical University
2019-08-01
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| Series: | Наука и техника |
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| Online Access: | https://sat.bntu.by/jour/article/view/1994 |
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| author | N. N. Hurski Yu. A. Skudnyakov V. S. Artsiushchyk A. N. Bezruchko |
| author_facet | N. N. Hurski Yu. A. Skudnyakov V. S. Artsiushchyk A. N. Bezruchko |
| author_sort | N. N. Hurski |
| collection | DOAJ |
| description | The task of controlling multi-link robots with manipulators for implementation of high-tech processes in industry has been considered in the paper. The paper presents sequential steps of using computer technology in construction of robotic-manipulators, including mathematical, algorithmic, and hardware and software tools for creating a multi-drive mechatronic system controlled by OMRON industrial microcontroller. A kinematic scheme of a robot manipulator has been described in the paper and it performs the following two types of movements – rotation around the z axis and rectilinear movement of a working element along a turning radius with precise positioning at a given point in the working space. Electromechanical design of the manipulator allows to ensure transportation of production objects in accordance with a given technological process. For designing the technological process of transporting production objects, a software module has been developed that makes it possible to automate description of basic operations for movement of the robot manipulator working body with subsequent automatic generation of a command sequence for a control program ensuring operation of electric drives in manipulator links in real time. To speed up the process of designing trajectory of the working body, a spatial simulation model of a robot-manipulator in the MatLab-Simulink environment has been developed. The paper considers a generalized diagram of a mechatronic control system for a robot-manipulator based on the OMRON programmable logic controller operating under control of a program developed in the programming environment Sysmac Studio Automation. A program for a programmable terminal with interface elements and animation elements has been developed for industrial use of the mechatronic system during adjustment and operation period. The paper provides an appearance of a robot-manipulator prototype. The developed mechatronic system of the robot-manipulator can be technologically oriented towards solving other problems of industrial production. |
| format | Article |
| id | doaj-art-e8664759ab4c43b595464a1de9d328fe |
| institution | Kabale University |
| issn | 2227-1031 2414-0392 |
| language | Russian |
| publishDate | 2019-08-01 |
| publisher | Belarusian National Technical University |
| record_format | Article |
| series | Наука и техника |
| spelling | doaj-art-e8664759ab4c43b595464a1de9d328fe2024-12-02T03:56:41ZrusBelarusian National Technical UniversityНаука и техника2227-10312414-03922019-08-0118435035410.21122/2227-1031-2019-18-4-350-3541807Control of Mechatronic System Based on Multilink Robot-ManipulatorsN. N. Hurski0Yu. A. Skudnyakov1V. S. Artsiushchyk2A. N. Bezruchko3Belarusian National Technical UniversityBelarusian State University of Informatics and RadioelectronicsBelarusian National Technical UniversityBelarusian National Technical UniversityThe task of controlling multi-link robots with manipulators for implementation of high-tech processes in industry has been considered in the paper. The paper presents sequential steps of using computer technology in construction of robotic-manipulators, including mathematical, algorithmic, and hardware and software tools for creating a multi-drive mechatronic system controlled by OMRON industrial microcontroller. A kinematic scheme of a robot manipulator has been described in the paper and it performs the following two types of movements – rotation around the z axis and rectilinear movement of a working element along a turning radius with precise positioning at a given point in the working space. Electromechanical design of the manipulator allows to ensure transportation of production objects in accordance with a given technological process. For designing the technological process of transporting production objects, a software module has been developed that makes it possible to automate description of basic operations for movement of the robot manipulator working body with subsequent automatic generation of a command sequence for a control program ensuring operation of electric drives in manipulator links in real time. To speed up the process of designing trajectory of the working body, a spatial simulation model of a robot-manipulator in the MatLab-Simulink environment has been developed. The paper considers a generalized diagram of a mechatronic control system for a robot-manipulator based on the OMRON programmable logic controller operating under control of a program developed in the programming environment Sysmac Studio Automation. A program for a programmable terminal with interface elements and animation elements has been developed for industrial use of the mechatronic system during adjustment and operation period. The paper provides an appearance of a robot-manipulator prototype. The developed mechatronic system of the robot-manipulator can be technologically oriented towards solving other problems of industrial production.https://sat.bntu.by/jour/article/view/1994mechatronic systemrobot-manipulatorcomputer technologiessoftware and hardwaremicrocontrollertechnological processelectric drivecontrol programsimulation modelprogrammable logic controllerprogrammable terminalprototype |
| spellingShingle | N. N. Hurski Yu. A. Skudnyakov V. S. Artsiushchyk A. N. Bezruchko Control of Mechatronic System Based on Multilink Robot-Manipulators Наука и техника mechatronic system robot-manipulator computer technologies software and hardware microcontroller technological process electric drive control program simulation model programmable logic controller programmable terminal prototype |
| title | Control of Mechatronic System Based on Multilink Robot-Manipulators |
| title_full | Control of Mechatronic System Based on Multilink Robot-Manipulators |
| title_fullStr | Control of Mechatronic System Based on Multilink Robot-Manipulators |
| title_full_unstemmed | Control of Mechatronic System Based on Multilink Robot-Manipulators |
| title_short | Control of Mechatronic System Based on Multilink Robot-Manipulators |
| title_sort | control of mechatronic system based on multilink robot manipulators |
| topic | mechatronic system robot-manipulator computer technologies software and hardware microcontroller technological process electric drive control program simulation model programmable logic controller programmable terminal prototype |
| url | https://sat.bntu.by/jour/article/view/1994 |
| work_keys_str_mv | AT nnhurski controlofmechatronicsystembasedonmultilinkrobotmanipulators AT yuaskudnyakov controlofmechatronicsystembasedonmultilinkrobotmanipulators AT vsartsiushchyk controlofmechatronicsystembasedonmultilinkrobotmanipulators AT anbezruchko controlofmechatronicsystembasedonmultilinkrobotmanipulators |