MODELLING AND SIMULATION OF A PICK&PLACE SYSTEM USING MODELICA MODELLING LANGUAGE AND AN INVERSE KINEMATICS APPROACH

摘要

Modelica is a powerful modelling language for modelling and simulation of Multiphysics Engineering Systems behaviour.This work explores a model to be implemented in the control design of a 6-axis industrial manipulator whose structure approaches the robotic arm ABB IRB 140, through inverse kinematics calculation.The significance of an inverse kinematics model is to bring accuracy to the reference inputs into a closed-loop control system involved in an industrial setting.Inverse kinematics can complement the path planner or trajectory generator function in object-oriented Modelica language, optimizing the study of an industrial robot physical process such a Pick&Place system.Finally, obtained results are extrapolated for similar cases and applications.