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Tehnika
2014, vol. 69, br. 1, str. 96-103
jezik rada: srpski
vrsta rada: stručni članak
doi:10.5937/tehnika1401096A


Modeliranje, simulacija i verifikacija modela industrijskog robota
aTehnička škola Trstenik, Trstenik
bUniverzitet u Nišu, Elektronski fakultet

Sažetak

U ovom radu projektovan je model industrijskog robota antropomorfne konfiguracije sa pet stepeni slobode korišćenjem DH parametara. Model je verifikovan na primeru robota - Mitsubishi RV2AJ. U radu je detaljno prikazan matematički model robota i predstavljeni su parametri za njegovo programiranje. Na osnovu definisanog modela robota, izvršene su simulacije kretanja robota od tačke do tačke, kao i kontinualno kretanje po unapred definisanoj putanji. U cilju verifikacije dobijenog modela, izvršeno je programiranje robota sa istovetnim parametrima koji su korišćeni u simulaciji. Dobijeni rezultati su prikazani i izvršeno je poređenje realnog i simuliranog eksperimenta. U završnom delu rada prikazana je detaljna analiza kretanja robota.

Ključne reči

Reference

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