Research on manipulator movement using hardware and computer models

Abstract

One of the main directions of designing robotic systems is the kinematic analysis of manipulators, which allows us to proceed to the study of dynamics and synthesis of manipulator motion control based on forward and inverse kinematics problems. The work focuses on the development of hardware and computer models of the movement of various manipulator elements. For this purpose, tools used for hardware and computer modeling of manipulator movement are used. The work shows how to create manipulator models based on the Arduino hardware-software complex. The possibility of using the UnoArduSim simulator to create computer models is considered, which includes both computer control devices and information and executive devices used in robotic devices. The Processing programming language is used to graphically display the manipulator movement on a computer, which makes it possible to create animated models. A simplified hardware model of a manipulator with three segments, the movement of which is carried out using servo drives, and a mathematical model of using direct and inverse kinematics problems to determine the trajectory of movement of the working body from known values of the state parameters of individual segments, as well as to determine the state parameters of individual segments from the coordinates of the working body have been developed. The hardware model of the manipulator is created on the basis of hardware and software tools used in the Arduino hardware-software complex and the UnoArduSim simulator, which makes it possible to use software to study manipulators both on the hardware and software model. A hardware-computer model of the manipulator based on Arduino and Processing has been developed to study the movement of the manipulator in manual and automatic modes. Computer models based on direct and inverse kinematics problems have been created based on the Processing language, where the position of individual segments and the working body of the manipulator is controlled by moving the mouse, and the cursor coordinates determine the angles of rotation of individual segments for the direct kinematics problem or the coordinates of the working body for the inverse kinematics problem. These models can be used to study the movement of manipulators and their links, to create programs through training, when in manual mode the parameters of the links are determined for the established sequential positions of the working body, on the basis of which a program is created for moving the manipulator in automatic mode, as well as during distance learning