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  4. Synthesis of Control Algorithm for Position of Six–Axis Manipulator

Synthesis of Control Algorithm for Position of Six–Axis Manipulator

JEECS.
2022;
Volume 8, Number 2
: pp. 118 – 126
https://doi.org/10.23939/jeecs2022.02.118
Received: October 15, 2022
Revised: November 05, 2022
Accepted: November 14, 2022

M. Vihuro, A. Malyar. Synthesis of control algorithm for position of six–axis manipulator. Energy Engineering and Control Systems, 2022, Vol. 8, No. 2, pp. 118 – 126. https://doi.org/10.23939/jeecs2022.02.118

Authors:
  1. Maxym Vihuro
  2. Andriy Malyar
1
Lviv Polytechnic National University
2
Lviv Polytechnic National University, Bydgoszcz University of Science and Technology

The paper formulates the inverse kinematic problem for the robotic manipulator with six degrees of freedom. For the solution if this problem, the geometric method combined with the Denavit–Hartenberg transformation was applied. The Denavit–Hartenberg method offers the advantage of reducing the number of coordinates that determine the special position of the solid body from six to four. This method provides for an accurate positioning of the working tool. The inverse kinematic problem was solved. This problem aims at calculating the rotating angle of each axis. The geometric solution of the problems for each of the axes is presented. Based on the calculation data, the algorithm of determining the rotating angles of the robotic manipulator was developed. This algorithm was implemented in the Matlab environment. The control flow chart of the algorithm is presented and its operation is described. The paper offers an example of solving the inverse kinematic problem using the developed algorithm. The calculation results were verified and shown to be consistent with the preset position, which confirms the adequacy of the developed model.

robotic manipulator
working tool
coordinate system
travel path
Denavit–Hartenberg method
inverse kinematics problem
generalized coordinates
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