Reducing simulation time of robot systems

• Autorzy: Szkodny T.
• Języki publikacji: EN

Abstrakty

EN

In this work, simplification methods of robot models for reducing simulation time are proposed. Reducing simulation time by means of increasing a discrete time step is proposed. The evaluation of both simplifications of robot models and increasing the discrete time step are presented. For AS robot and experimental robot these methods are applied. The graphic models of these robots, created in Simulink are proposed. The Simulink gives a possibility of easy modeling of complex dynamic systems. These robots possess manipulation, drive and control systems. The results of simulation of robot movements by means of non-simplified models are presented. The required exemplary trajectories, described by motor angles, have been investigated. A method of the choice of a discrete lime step for simulation by means of non-simplified robot models, with the fixed value of this step, is presented. Next, results of simulation of robot movements by means of simplified models and increased discrete time step were presented. Simulation errors caused by simplifications of robot models and increasing discrete time step were evaluated. Times of simulation by means of the simplified robot models and increased discrete time step were compared to times of simulation by means of non-simplified robot models and non-increased discrete time step. The times of simulations by means of simplified robot models and increased discrete time step were compared to simulated times.

Słowa kluczowe

EN

discrete-time system; robot system; control system; graphic model; simulation time reduction

• Wydawca: Oficyna Wydawnicza Politechniki Wrocławskiej
• Czasopismo: Systems Science
• Rocznik: 2004
• Tom: Vol. 30, no 2
• Strony: 119--127
• Opis fizyczny: Bibliogr. 6 poz., wykr.

Twórcy

autor

Szkodny T.

• Institute of Automation, Silesian Technical University, ul. Akademicka 16, 44-100 Gliwice, Poland,

Bibliografia

• [1] Craig J. J., Introduction to Robotic, WNT, Warsaw 1993, (in Polish).
• [2] Szkodny T., Dynamics of industrial robot manipulators, Mech. Mach. Theory, Pergamon Press 1995, Vol. 30, No.7, 1057-1072.
• [3] Szkodny T., The sensitivities of industrial robot manipulators to errors of motion models, parameters, Mech. Mach. Theory, Pergamon Press 2001, Vol. 36, No. 6, 637-682, Pergamon Press 2001.
• [4] Szkodny T., Modeling and simulation of experimental robot. Systems Science, Vol. 29, No. 3, 2004 (to be published).
• [5] Szkodny T., Modelling and simulation of industrial robot movement, Silesian Techn. Univ. Publ. Comp. Gliwice (to be published in Polish).
• [6] Yoshikawa T., Foundations of robotics. Analysis and Control, MIT Press, 1990.