Robot Programming Using Model Based Design Tools

Mustafa Engin; Okan Duymazlar; Dilşad Engin

doi:10.31590/ejosat.1010444

Research Article

Model Tabanlı Tasarım Araçları ile Robot Programlama

Year 2021, Issue: 31, 861 - 869, 31.12.2021

Mustafa Engin , Okan Duymazlar , Dilşad Engin

https://doi.org/10.31590/ejosat.1010444

Abstract

Bu çalışmada endüstriyel alanda yaygın olarak kullanılan altı serbestlik derecesine sahip 6R manipülatörleri için model tabanlı bir tasarım yapılmış ve çıktı olarak bir simülasyon ve test ortamı elde edilmiştir. 6R manipülatörünün 3 boyutlu modeli, katı model ve simülasyon yazılımı kullanılarak tasarlanmış ve çizilmiştir. Elde edilen katı model MATLAB™'a aktarılmış ve SimMechanics™'e entegre edilmiştir. Elde edilen çıktı ile ileri ve ters kinematik hesaplamalar bilgisayar ortamında gerçekleştirilmiştir. Tasarımı gerçekleştirilen simülasyon ve tasarlanan görsel arayüzün işlevselliği, IRB120 6R manipülatörü kullanılarak doğrulanmıştır. Arayüz ile manipülatör arasındaki veri aktarımı, TCP / IP soket iletişimi ile yapılmıştır.

Keywords

Kinematik, Robotik, Model tabanlı tasarım, Soket iletişimi.

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