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Contents

4.2.1.    L-l robot model    105

4.2.2.    Manipulator model    106

4.2.3.    Actuator models    . - 107

4.3.    Examples of L-l robot motion simulation    110

4.3.1.    Desired trajectories    110

4.3.2.    Simulation of experimental robot motion    111

4.4.    Simplification of models    114

4.5.    Summary    118

5.    MODELLING AND SIMULATION OF EXPERIMENTAL ROBOT    119

5.1.    lRb-6 IRM models    119

5.1.1.    IRb-6 1RM kinematies    119

5.1.2.    IRb-6 IRM dynamies    131

5.2.    Experimental manipulator models    131

5.2.1.    Experimental manipulator kinematies    131

5.2.2.    Experimental manipulator dynamies    137

5.3.    Models óf experimental robot in Simulink environment    138

5.3.1.    Experimental robot model    13    8

5.3.2.    Manipulator model    139

5.3.3.    Servo models    139

5.3.4.    Controller models    140

5.3.5 Actuator models    141

5.3.6. Current actuator controller models    142

5.4.    Examples of experimental robot motion simulation    142

5.4.1.    Desired trajectories    142

5.4.2.    Simulation of motion    144

5.5.    Simplification of models    149

5.6.    Comparison between experimental and simulation results    153

5.7.    Summary of chapter 5    155

5.8.    Summary of simulation accelerate methods    156

6.    CALIBRATION OF IRM MOTION MODELS    158

6.1.    Regression funetions    158

6.2.    Regression funetion ofIRM kinematies    159

6.3.    Regression funetionof IRM dynamies    163

6.4.    Summary    171

7.    FINAŁ CONCLUSIONS    173

APPENDICES    175

A.    Linear form ofIRM dynamies eąuation in relation to mass parameters    177

B.    List of morę valid Computer programs    184

C.    Closed form ofexemplary dynamies coefficient    188

REFERENCES    190

195

SUMMARY