stručni rad
The paper presents research on the development of a mathematical model and control algorithms for an industrial robot arm. Starting from the simplified architecture of the robot in plain view, a mathematical model of the direct kinematics with the representation of the position of the robot arm tool is derived. Based on this, the equations of inverse kinematics are derived, which provide the equations for the variables of the angles in the spaces of the ankle. In addition, a dynamic model of the actuator moments in the joints was created. Three algorithms for torque control with PD and PI controllers were proposed for the rotation of the robot joints in which the servo motors are located, as well as for the control with the contact force of the robot tool. The mathematical models and control algorithms were implemented in the computer program MATLAB Simulink, and a simulation of the response variables was performed for each of these algorithms. The simulation results are presented and a comparison of the given algorithms is given.
industrial robot arm, mathematical model, control algorithm, PD regulator, PI regulator, touch force control
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