MODELING AND DYNAMIC SIMULATION OF ROBOT IRB 120 BASED ON SIMSCAPE MULTIBODY

Abstract

Commonly, the dynamic simulation of a robot manipulator is based on the identified mathematics model. It is difficult to add friction, actuator dynamics to this model so that these nonlinear dynamics usually are simplified or neglected. Therefore, the simulation result is idealized, and the reliability of the simulation seems to be in doubt. The paper presents the quasi-physical modeling of robot IRB 120 using MATLAB/Simscape Multibody for dynamic simulation. The bodies of the robot are assembled into a physical network with connections that represent physical domains. The fashions of the quasi-physical model are close to that of the actual robot. The effectiveness of the proposed modeling approach is demonstrated through some simulations.