Industrial robots are indispensable in modern industry as they enable the automation of production processes and increase productivity. For ensuring the correct execution of tasks, knowledge of the robot's kinematics and dynamics is necessary. The work presents the development of a module for the kinematic and dynamic analysis of a six-axis industrial robot. It is implemented in the Python programming language. The work includes an overview of the field of industrial robots and the basic principles of spatial transformations, robot kinematics, and analytical dynamics. Based on the Denavit-Hartenberg formulation, the equations of forward and inverse kinematics are derived and experimentally verified on a real robotic system. Using the Lagrange formulation of dynamics, the equations of motion of the manipulator are derived and a dynamic model is created. Experimental modal analysis of the Yaskawa GP7 robot is conducted, based on which the dynamic model is appropriately updated. By considering the transverse deformations of the joints, the extended dynamic model, which includes additional degrees of freedom, is more accurate in modeling the dynamic response of the robot. With the updated model, a simulation of the robot's dynamic response and prediction of natural frequencies at a specific pose of the robot is performed.
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