Development of program module for modeling kinematics and dynamics of manipulator
DOI:
https://doi.org/10.52575/2687-0959-2023-55-1-70-83Keywords:
Computer Modeling, Kinematics Modeling, Levenberg – Marquardt Method, Dynamics Modeling, Newton – Euler Method, ManipulatorAbstract
The article proposes the development of a software module for modeling the kinematics and dynamics of a manipulator with five degrees of freedom. To solve the forward kinematics problem of the manipulator, the Denavit-Hartenberg method was used. To solve the inverse the kinematics problem and inverse dynamics problem of the manipulator, analytical methods – the Levenberg – Marquardt method, the Newton – Euler method, and the soft computing method – adaptive neuro-fuzzy inference system were used. And a software module was developed for modeling the kinematics and dynamics of the manipulator using computer-aided design application SolidWorks and the MatLab program. The developed software module is able to simulate the kinematics and dynamics of the manipulator based on the described methods, visualize the simulation results, generate a trajectory for the target position and orientation of the end-effector of the manipulator, simulate the movement of the manipulator along a given trajectory.
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