Modelling and simulation of trajectories for hydraulic robot applied to assembly functionsin a flexible manufacturing system

Abstract

In this document the modelling and simulation of trajectories for a robot applied to hydraulic assembly functions in a flexible manufacturingsystem are presented. This project is part of the robotic manufacturing system of the laboratory of the University of La Salle. The methodology used to develop the project involves modelling with direct cinematic with the Denavit - Hartenber parameters, dynamic modelling with Lagrange - Euler equations and simulation and programming of manipulator trajectories applying interpolation of intermediate points and of starting point and end point. As a result, is obtained the matrix linking the position of the tip to the base of manipulator and the equations of torque variation depending on the speed and acceleration profiles in the paths taken