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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 ...

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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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...Dynamic and kinematic simulation of kawasaki manipulator industrial robot using solidoworks matlab simmechanics a b c zennir youcef makbouche adel souames hamza automatic laboratory skikda route el hadeaik bp algeria univ dz hhhhhsouames hotmail fr abstract with ddf to flexibility movement different in this paper we present graphical human machine possible trajectory s positions lallemand interface hmi d modeling for raison our work consist study control an kawsaki fsn simulate dimention direct inverse geometric model kinematics has been developed the development is solidworks software bridge between fs compact multi purpose from models use actual dimensions f series weighing just aim that kg it designed as portable at smaller end will be used test type before range despite its size advanced applying real axis arm boasts highest speed class reference movements were performed finally launched retains form opening persepectives on future predecessors but improved results obtained validat...

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