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DYNAMIC AND KINEMATIC SIMULATION OF KAWASAKI MANIPULATOR INDUSTRIAL ROBOT USING SOLIDOWORKS AND MATLAB SIMMECHANICS (a) (b) (c) Zennir Youcef , Makbouche Adel , Souames Hamza (a,b,c) Automatic Laboratory of Skikda, Route El-Hadeaik, BP26. 21000 Skikda, Algeria (a)youcef.zennir@univ-skikda.dz, (b) adel.makbouche@univ-skikda.dz (c) hhhhhsouames@hotmail.fr ABSTRACT (with 6 DDF) to flexibility movement and different In this paper we present a graphical Human Machine possible trajectory’s and positions (Lallemand 1994). Interface (HMI) with a 3D modeling and simulation of For this raison our work consist to study and to control an industrial robot manipulator Kawsaki FS03N with 6 simulate (in 3Dimention) an industrial robot DDF. A direct and inverse geometric model, with manipulator kawasaki FS03N (Kawasaki 2003), with kinematics model of robot has been developed. A the development of a human-machine interface. dynamic robot model is developed with SolidWorks software and Matlab SimMechanics and with a bridge 2. MANIPULATOR ROBOT KAWASAKI FS03N between SolidWorks and Matlab has been developed. The FS03 is a compact multi-purpose robot from the The developed models use the actual robot dimensions. Kawasaki F series (Kawasaki 2003). Weighing just 3 The aim of our work that this Human Machine Interface kg, it is designed as a portable model at the smaller end will be used to test different control type before of the range. Despite its size, the FS03 is an advanced applying to the real robot. Different simulation and 6-axis arm and boasts the highest speed in its class. reference movements control were performed. Finally, Launched in 2005, the FS03 retains the compact form and before opening persepectives on future work we of its predecessors but has improved speed and present the results obtained validated the functioning of acceleration/deceleration characteristics and our interface both SolidWorks software and Matlab. significantly reduced cycle times. Whether placed on the floor, suspended from the ceiling or mounted on the Keywords: Modeling, 3D simulation, Manipulator wall (Option), the FS03 exhibits excellent freedom of robot, Solid Works software, Matlab-Simulink. movement, tailoring its acceleration and deceleration speeds to both load weight and robot position for 1. INTRODUCTION optimum performance in all situations. The FS03 is Robotic science it is a multidisciplinary field ideal as an industrial robot for demanding tasks such as mechanical, computer science, electronics. A robot is a assembly, handling and inspection of small machine that can manipulate objects and perform components. Standard equipment includes AS high- various movements dictated by an easily modifiable level robot language and the ultra-compact D70 fully program. Program a robot is specify the movement’s digital controller. The FS03 brings robot technology sequence that will be achieve. Some robots are one step closer to humankind. The various robot arm equipped with "sense". Is a more or less set of elements are: The base (A), the shoulder (B), the arm measuring instruments and appreciation (camera, (C), the elbow (D), the forearm (E) and wrist (F) (figure thermometer, .....) to program a robot how choose the 1). more adapted movement with the external conditions. The robots equipped with artificial intelligence devices D so that they can deal were unexpected and new complex E situations (the robot could gain some "experience"). Robots are mainly used in industry for performing repetitive manipulations, especially when the C manufacturing process is subject to frequent changes. F The advantage of a robot (robot manipulator) with a B contribution-man is his consistency: It can perform the same motion thousands of times in a row without A feeling any tiredness (Vibert 1987). Other thing, the robots can be constructed to withstand a basis that would be harmful or fatal to humans (harmful gases, high heat, cold body, radiation,...). A manipulator robot Figure 1: Kawasaki FS03N robot Proceedings of the European Modeling and Simulation Symposium, 2015 46 978-88-97999-57-7; Affenzeller, Bruzzone, Jiménez, Longo, Merkuryev, Zhang Eds. Three main axes and three wrist axes deliver 6-axis performance (figure 2). The arm can be located in the desired work space and the tool location can be set, allowing greater freedom when locating peripheral equipment. The arm turning axis (JT1) and the wrist axes (JT4, 5, 6) have superior high-speed operation and feature the highest speed specifications in their class. Cycle time is very short (Cycle time: 0.4 Ð <0.5 sec*), and high reliability and high precision ensure that they can withstand the most stringent operating conditions of industrial robots(Ijeoma 2012)(Tuna 2001). Figure 3: Motion Range & Dimensions of robot. 3. DIRECT GEOMETRIC MODEL The direct geometric robot model is used to calculate the operational coordinates giving the position of the end-effectors based on joint coordinates. It used also to determine the configuration (position, orientation) end- effector of a robot according to the links configuration. This model is based on the determination of transformation matrix between R and R(Tuna Figure 2: Axis Position. 2000) (John 1989). The direct geometric robot parameters are illustrated in the following table: Ideal for a variety of operating spaces: floor mount, wall mount or ceiling mount. Wiring and conduits for tool Table 2: Direct geometric robot parameters. sensors are built - in inside the arm for easy operation. J α d r σ j j θ j The utilization of absolute encoders eliminates the need j j 1 0 0 0 θ 0 to zero the unit when powering up. There is no need to 1 2 0 -π/2 0 θ 0 worry about gravity induced interference with other 2 3 0 0 D3 θ 0 equipment when the power is turned off as all six axes 3 4 0 π/2 0 θ RL4 4 are broken. (Kawasaki 2003). Some specification 5 0 -π/2 0 θ 0 5 6 0 /2 0 0 (characteristics) of robot is illustrated in the following π θ6 table: The homogeneous transformation matrix of the robot is: Table 1: Kawasaki FS03N robot Specifications. 1 −1 0 0 1 −1 0 0 Specifications FS03N = 1 1 0 0 =1 1 0 0 (1) Arm type Articulated 0 0 1 0 0 0 1 0 Degrees of Freedom 6 Axes 1 1 Maximum Payload 3kg 0 0 0 0 0 0 Axis Works envelope axis Max. Stroke Max. 2 −2 0 Speed 0 0 JT1 ± 160° 360°/S = 1 0 (2) JT2 +150°-60° 250°/S −2 −2 0 0 JT3 +120°-150° 225°/S 0 0 0 1 2 −2 0 −2. JT4 ± 360° 540°/S −2 −2 1 −2. JT5 ±135° 225°/S = (3) JT6 ±360° 540°/S 0 0 0 0 Max. linear speed 6.000 mm/s 0 0 0 1 Moment and Axis inertia inertia 3 −3 0 Moment of inertia JT4 5.8N.m 0.12 kg.m 3 3 = 1 0 (4) JT5 5.8N.m 0.12 kg.m 0 0 0 JT6 2.9N.m 0.03 kg.m 0 0 0 1 Proceedings of the European Modeling and Simulation Symposium, 2015 47 978-88-97999-57-7; Affenzeller, Bruzzone, Jiménez, Longo, Merkuryev, Zhang Eds. 0 − .3 0 =− ∙+ ∙12 + ∙3 , 3 3 # (24) −3 3 0 2. = (5) 0 = ∙12 + ∙3 (25) 0 0 0 − # 0 0 0 1 = 6 +6 = 6 +6 4 −4 0 0 Avec 45 + , et 7"+ , 0 0 −1 − = (6) 4. INVERSE GEOMETRIC MODEL 4 4 0 0 0 0 0 1 If we try to find all possible configurations for a joint 4 0 4 0 position and orientation data an inverse geometric model = −4 0 4 0 (7) 0 −1 0 − (IGM) can meet this need. Knowing that for the serial 0 0 0 1 manipulator type, the development of (IGM) is a very 5 −4 0 0 difficult and complex issue, where it must reverse a 0 0 1 0 system of nonlinear equations which is not trivial. T = (8) −5 −5 0 0 Nevertheless, and according to the structure of the 0 0 0 1 manipulator robot, there are various methods for solving 5 0 −5 0 the IGM in an explicit form. In our case with the −5 0 −5 0 = (9) manipulator robot Kawasaki FS03N used in industry, the 0 −1 0 0 Paul methods can give the solutions of IGM in explicit 0 0 0 1 form (Paul 1981), (Lallemand 1994). Hence we obtain 6 −6 0 0 the following solutions: 0 0 −1 0 = (10) 6 6 0 0 + , 0 0 0 1 6 =$8$" 90,0 ; ; 6 = $8$" , (26) 6 0 6 0 ! # = −6 0 6 0 (11) 0 −1 0 0 With: 0 0 0 1 > ? ? ? > ? ? ? =.∙/<ξ∙=∙ = @. @/ and = =∙/<ξ∙=∙ = @. @/ , Finally: =?@.? =?@.? T =T ∗T ∗T ∗T ∗T ∗T (12) ξ = ±1 . B =0 ∙ +0 ∙ ; C = −2∙0 ∙3 ; " $ 0 = / . ! ! ! " $ 0 D =−2∙B ∙3 (27) # # # A p = " =& ) (13) % % $ 0 0 0 0 1 % + , + , + , + , E = 12 − 3 + 0 + B (28) 0 0 0 1 / G L ∙N 6 =$8$" F0 ∙ −B ∙ + H ,−B ∙ + M ?O = ∙+ ∙+ ∙ ∙ − ∙ ,− ∙ ∙ ,− / IJ IJ ! K K ∙+ ∙ ∙ + ∙ , (29) (14) ∙ ∙ ∙ − ∙ − ∙ ∙ = ∙+ + , , − 6 =$8$" 9$ ∙ −$ ∙ ,− ∙9 $ + $ ;− . ∙ ∙ + ∙ ! # ! # ∙+ , (15) $ ∙ ; (30) = ∙ ∙ ∙ − ∙ + ∙ ∙ % + , / (16) + , 6 =6 +π ; 6 = $8$" , (31) " = ∙ − ∙+ ∙ ∙ + ∙ ,+ ∙ ∙ ! + With : ,+ ∙+ ∙ ∙ − ∙ , (17) =− ∙P ∙9 $ + $ ;+ ∙$ Q+ ∙ − ∙ ∙ + ∙ ! # % " = ∙+ ∙+ , + ∙ ∙ . 9 $ − $ ; (33) + ∙ ∙ ∙ − ∙ ! # , + , (18) =− ∙P $ + $ + ∙$ Q (34) " =− ∙+ ∙ ∙ + ∙ ,+ ∙ ∙ ! # % / + , 6 =$8$" , (35) (19) With : $ =− ∙ ∙ ∙ + ∙ + ∙ ∙ ! + , (20) =− ∙P ∙9 + ;+ ∙ Q− ∙ $ =− ∙+ ∙ ∙ + ∙ ,+ ∙ ∙ (21) ! # % # 9 − ; (36) ! # $ =− ∙ ∙ + ∙ / (22) =− ∙P ∙9 " + " ;+ ∙" Q− ∙ 0 =− ∙ ∙12 + ∙3 ! # % + , ! (23) 9 " − " ; (37) ! # Proceedings of the European Modeling and Simulation Symposium, 2015 48 978-88-97999-57-7; Affenzeller, Bruzzone, Jiménez, Longo, Merkuryev, Zhang Eds. + , + , + , developed in 1993 and Bought in 1997 by Dassault =45 6 , = 7" 6 , = 45 6 , + , Systèmes. SolidWorks is design automation software = 7" 6 (38) and in this software, you sketch ideas and experiment 5. INVERSE KINEMATIC MODEL with different designs to create 3D models. It’s used by The inverse kinematics model (IKM), it positions a students, designers, engineers, and other professionals joint, and generates the joints Parents configuration to produce simple and complex parts, assemblies, and required to achieve the desired position. Hence an drawings (Alejandro 2007). Our robot consists of six inverse kinematics problem is therefore to find a robot segments and a mass attached to the terminal member. joints configuration in the robot skeleton for positioning With real demotion of each segments we obtained a hinge according to a direction and a translation perfect robot reproduction. The various robot segments defined at the beginning. The inverse kinematics model before and after assembly are illustrated in the (IKM) describes the speed of operational coordinates following figure: with joint speeds (yin 2011), (Megahed 1991). T R U C=J(q) ∗ SR=& ) (39) V U WX J(q) : Jacobian matrix (m× n), equal WY ; V : Translation speed of "O " . Its equal derivative of [ n P vector; 0 n w : Rotation speed of Rn [9] [ For our case (robot FS03N) we must calculating the basic Jacobian matrix. T R U R C=& )=^ ∙SR =^ ∙_ (40) ] U U We noted : U T =+$ Λ 2 ,SR a,U a a,U ab ` V =$ .SR a,U a a T = ∑U T =∑U +$ Λ 2 ,SR U a< a,U a< a a,U ab ⟹` V =∑U V =∑U $ .SR (41) U a< a,U a< a a With: th K : index k joint of the robot; V and w : translational and rotation speed; (k,n) (k,n) L denotes the original vector O and extremity vector (k,n) k On; a : unit vector along the Z axis of the articulation k. k k e Figure 4: Various robot segments. Each column of the matrix ^ is expressed like following: 7. SIMULATION a e a e 3D simulation of the robot kawasakiFS03N) is − 0 +0 " constructed Malab-Simulink with simmechanics block f =g # a ! ah (42) ,a $e library (Kalapyshina, 2014). The System (robot) is a represented by the following blocks: the body, joints, 6. ROBOT KAWASAKI (FS03N) MODEL IN constraints, and force. The SimMechanics block library SOLIDWORKS : provided us the tools to formulate and solve motion Using a 3D computer aided design (CAD) software equations of complete mechanical system. allowed us to model, simulate and make the data management and processes of system. Many 3D We used a bridge between solidworks_matlab with software has been developed by Dassault Systems like same adaptations (Simmechanics 2007), (Matlab 2010) Catia, ENOVIA, DELMIA, Simula, Exalead and to operate the robot model that we designed with 3DVIA, Solidworks and other. solidworks. The Simulink modeling then appears: Various functions can be realization with each different software. We opted to use solidworks since our goal is create a link with Matlab-Simulink software and then control simulate laws develop. SolidWorks is CAD software "Computer aided design". It has been Proceedings of the European Modeling and Simulation Symposium, 2015 49 978-88-97999-57-7; Affenzeller, Bruzzone, Jiménez, Longo, Merkuryev, Zhang Eds.
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