Simulation Model for a Six Axis Articulated Arm Industrial Robot : For Educational Use in Control System Design
Preuss, Olivier (2019)
Preuss, Olivier
2019
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Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:amk-201905109062
https://urn.fi/URN:NBN:fi:amk-201905109062
Tiivistelmä
Virtual system mappings and simulations are fundamental and contemporary engineering methods, especially within the widely spread field of complex, multi-domain mechatronic robotic systems. Therefore, companies as well as educational institutions typically try to apply the most recent simulation methods and software in order to achieve future-oriented and successful teaching, studies and researches.
The client of the thesis work at hand, Tampereen Ammattikorkeakoulu (TAMK) owns an ABB industrial robot manipulator that operates, among others, as a MIG/ MAG welding robot. Related to that, this thesis work aimed at the development and implementation of a MATLAB® Simulink® simulation model of an ABB IRB 2600-12/1.85 six axis articulated arm industrial robot for the purpose of educational use in control system design. The main objectives were: Design and implementation of a modular, maintainable and extendable simulation model based on a MATLAB® Simulink® SimscapeTM MultibodyTM model, derived from the robot’s CAD model. The simulation model shall be used as a ready-to-use environment for control system structures design and include sufficient parameterization as well as user interface(s), motion planning and an operating manual.
In the context of the accomplishment, firstly the entirety of requirements was identified. In order to clearly outline the work extent and to meet the requirements satisfyingly, necessary definitions and regulations were formulated; this also covered general simplifications and restrictions. Task related, corresponding, common and state-of-the-art theory was studied and gathered from appropriate sources and adapted if required. The conceptual design was related to the preliminary determination of general matters e.g. the project structure and simulation flow but also of particular tasks e.g. the design of joint actuation models and graphical user interfaces. Finally, the conceptual design was implemented under the continuous consideration of the project’s requirements, previously determined definitions and regulations and the corresponding theory.
The result of this thesis work is considered as a comprehensive and fully functional simulation program/ model that meets the client’s requirements, covers optional accomplished tasks and can be used for the educational purposes it was initially meant for. Nevertheless, the simulation model at its state at the finalization of the thesis work at hand, suffers weaknesses, incompleteness and limited capabilities due to incomplete parameterization, not conducted model validation and necessarily applied simplifications. Therefore, future continuations of this thesis work, e.g. in the context of further thesis works or semester projects, need to be applied to obtain a fully comprehensive and accurate simulation model.
The client of the thesis work at hand, Tampereen Ammattikorkeakoulu (TAMK) owns an ABB industrial robot manipulator that operates, among others, as a MIG/ MAG welding robot. Related to that, this thesis work aimed at the development and implementation of a MATLAB® Simulink® simulation model of an ABB IRB 2600-12/1.85 six axis articulated arm industrial robot for the purpose of educational use in control system design. The main objectives were: Design and implementation of a modular, maintainable and extendable simulation model based on a MATLAB® Simulink® SimscapeTM MultibodyTM model, derived from the robot’s CAD model. The simulation model shall be used as a ready-to-use environment for control system structures design and include sufficient parameterization as well as user interface(s), motion planning and an operating manual.
In the context of the accomplishment, firstly the entirety of requirements was identified. In order to clearly outline the work extent and to meet the requirements satisfyingly, necessary definitions and regulations were formulated; this also covered general simplifications and restrictions. Task related, corresponding, common and state-of-the-art theory was studied and gathered from appropriate sources and adapted if required. The conceptual design was related to the preliminary determination of general matters e.g. the project structure and simulation flow but also of particular tasks e.g. the design of joint actuation models and graphical user interfaces. Finally, the conceptual design was implemented under the continuous consideration of the project’s requirements, previously determined definitions and regulations and the corresponding theory.
The result of this thesis work is considered as a comprehensive and fully functional simulation program/ model that meets the client’s requirements, covers optional accomplished tasks and can be used for the educational purposes it was initially meant for. Nevertheless, the simulation model at its state at the finalization of the thesis work at hand, suffers weaknesses, incompleteness and limited capabilities due to incomplete parameterization, not conducted model validation and necessarily applied simplifications. Therefore, future continuations of this thesis work, e.g. in the context of further thesis works or semester projects, need to be applied to obtain a fully comprehensive and accurate simulation model.