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A new direct drive Puma configuration robot
mechanism
with the tree DOF has been
building. The robot is described with
mathematical model.
A Aluminium casting was chosen for the mechanism and a Yokagawa DD
torque motors as the actuators. DD robots eliminates the most part of
negative phenomena connected with gearboxes as are frictions,
backlashes and elasticities. On the other hand its dynamics is highly
non-linear and coupled and makes a control task very
difficult. Advanced control
methods as are Observer based Sliding mode
Controller and Neuronal Network are implemented for the
control of the mechanism and also classical method with
computed torque.
The robot controller hardware is based on
the transputer network. In one network node a PowerPC 601 is
comprised.
Matlab programs (For Matlab 6.0 and later) for simulation of dynamics of direct drive robot. Initial conditions are start positions and velocities of robot joints. Results of simulation are positions and velocities trajectories when the robot motors are turned off. Graphs and animation are shown. Also specific dynamic influences that cause motion (gravitation, Coriollis forces, friction..) are shown. Main file that must be run in Matlab is model_dd.m. This file also includes additional comments in English. Simulation is possible with or without friction. Different payloads can be applied. The matlab m files are in this zip file.
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