MODILISATION ET SIMULATION BRAS ROBOTIQUE

Abstract

The main object of this work was the creation of a model with a graphical interface in order to present a mechanical structure of a robot and in the end Simulink facilitates the connection of all the parameters necessary to make the simulation of the robot possible using using the SolidWorks software in combination with SimMechanics and Matlab Simulink. This interface of SolidWork with SimMechanics is done using ‘SimMechanicslink’. In our study we presented a direct geometric model and an inverse geometric model. The resulting equations express the relationship between the joint configuration of the robot and the position (in the Cartesian reference frame) of the extremity of the wrist using the Denavit-Hartenberg method. The inverse problem which allows to know the articular variables according to the situation of the terminal organ by using the method of Paul. In what follows we will present the simulation results of the movements of the robot in three dimensions using PID regulators or PID corrector (proportional, integral, derivative). These regulators are control algorithms that improve the performance of the movement for each element of our robot.