Control of Mechatronic System Based on Multilink Robot-Manipulators

• Main Authors: N. N. Hurski, Yu. A. Skudnyakov, V. S. Artsiushchyk, A. N. Bezruchko
• Format: Article
• Language: Russian
• Published: Belarusian National Technical University 2019-08-01
• Series: Nauka i Tehnika
• Subjects: mechatronic system; robot-manipulator; computer technologies; software and hardware; microcontroller; technological process; electric drive; control program; simulation model; programmable logic controller; programmable terminal; prototype
• Online Access: https://sat.bntu.by/jour/article/view/1994
• ISSN: 2227-1031; 2414-0392

The task of controlling multi-link robots with manipulators for implementation of high-tech processes in industry has been considered in the paper. The paper presents sequential steps of using computer technology in construction of robotic-manipulators, including mathematical, algorithmic, and hardware and software tools for creating a multi-drive mechatronic system controlled by OMRON industrial microcontroller. A kinematic scheme of a robot manipulator has been described in the paper and it performs the following two types of movements – rotation around the z axis and rectilinear movement of a working element along a turning radius with precise positioning at a given point in the working space. Electromechanical design of the manipulator allows to ensure transportation of production objects in accordance with a given technological process. For designing the technological process of transporting production objects, a software module has been developed that makes it possible to automate description of basic operations for movement of the robot manipulator working body with subsequent automatic generation of a command sequence for a control program ensuring operation of electric drives in manipulator links in real time. To speed up the process of designing trajectory of the working body, a spatial simulation model of a robot-manipulator in the MatLab-Simulink environment has been developed. The paper considers a generalized diagram of a mechatronic control system for a robot-manipulator based on the OMRON programmable logic controller operating under control of a program developed in the programming environment Sysmac Studio Automation. A program for a programmable terminal with interface elements and animation elements has been developed for industrial use of the mechatronic system during adjustment and operation period. The paper provides an appearance of a robot-manipulator prototype. The developed mechatronic system of the robot-manipulator can be technologically oriented towards solving other problems of industrial production.