High-performance robot motion control based on zero-phase notch filter for industrial robot

The kinematic model of robots is to describe the nonlinear relationship between the displacement of joints and the position and orientation of the end-effector, which is an important part of robotics. Kinematic model has great influence on the robot’s accuracy and motion control. In this paper, we studied the robot’s kinematic modeling methods and analyzed the characteristics and singularity of traditional DH method. By analyzing and comparing the structural characteristics of a 6-DOF industrial robot a MDH method was chosen to establish kinematic model. From the kinematic model the joint coordinate systems, structural parameters and homogeneous transformation matrixes of the robot are obtained. The kinematic model provides a theoretical basis for the robot motion control, calibration and error compensation.

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Industrial robot motion control with real-time Java and EtherCAT

2007 IEEE Conference on Emerging Technologies & Factory Automation (EFTA 2007) ◽

10.1109/efta.2007.4416960 ◽

2007 ◽

Cited By ~ 8

Author(s):

Sven Gestegard Robertz ◽

Klas Nilsson ◽

Roger Henriksson ◽

Anders Blomdell

Keyword(s):

Real Time ◽

Motion Control ◽

Industrial Robot ◽

Robot Motion

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Numerical Simulation of Inertia Matrix for 6 DoF Industrial Robot

Journal of Robotics and Mechanical Engineering ◽

10.53996/2770-4122.jrme.1000102 ◽

2021 ◽

Vol 1 (1) ◽

Author(s):

Jelena Vidakovic ◽

Vladimir Kvrgic ◽

Pavle Stepanic

Keyword(s):

Numerical Simulation ◽

Motion Control ◽

Industrial Robot ◽

Equations Of Motion ◽

Process Models ◽

Robot Motion ◽

Revolute Joints ◽

Inertia Matrix ◽

Robot Configuration ◽

Selection Of

The robot dynamic model is essential for the precision and reliability of robot design, motion control, and simulation. A robot inertia matrix, whose elements are coefficients of joint accelerations within the robot equations of motion, plays an important role in the robot’s control design. During robot motion, elements of the inertia matrix are functions of robot configuration (robot joint positions). To facilitate the development of process models and to make an appropriate selection of motion control algorithms, it is useful to perform numerical simulations of inertia matrix elements for different robot trajectories. In this paper, numerical simulation of inertia matrix is presented for 6 DoF industrial robot with revolute joints for the programmed robot motion. Inertia matrix is obtained from the robot dynamical model developed by using modified recursive Newton-Euler algorithm. Based on the presented simulations, variation of effective inertias and magnitude and variation of cross-coupling effects in the robot inertia matrix are examined.

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