A simple technique to modeling and simulation four-axe robot-arm control

Abstract

This paper presents modeling and real-time simulation programs that were developed for robot arm control. The technique analyzes the safety path, working area and step motion of robot. The implementation of experimental forward and inverse kinematics control method as Matlab m-files is described. The visualization and animation capabilities of Matlab provide a realistic perception of behavior of the test beds without robot or before send the command to robot. Control mode in manual and automatic by a joystick and library file via PC respectively.