2015
EMSS 2015 Proceeding
Dynamic and kinematic simulation of kawasaki manipulator industrial robot using solidoworks and matlab simmechanics
Authors: Zennir Youcef, Makbouche Adel, Souames Hamza
Abstract
In this paper we present a graphical Human Machine Interface (HMI) with a 3D modeling and simulation of an industrial robot manipulator Kawsaki FS03N with 6 DDF. A direct and inverse geometric model, with kinematics model of robot has been developed. A dynamic robot model is developed with SolidWorks software and Matlab SimMechanics and with a bridge between SolidWorks and Matlab has been developed. The developed models use the actual robot dimensions. The aim of our work that this Human Machine Interface will be used to test different control type before applying to the real robot. Different simulation and reference movements control were performed. Finally, and before opening persepectives on future work we present the results obtained validated the functioning of our interface both SolidWorks software and Matlab.
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