Mechatronic Model for the Dynamic Analysis of a Robotic System

Abstract

The present paper discusses the co-simulation methodology for a robotic system, which is used in the spray pyrolysis process on a planar surface. Robot bodies, joints, and rotors are modeled as a rigid multi-body system. The MBS software environment ADAMS was used to develop the dynamic model of a robotic system, while the control system model is developed in MATLAB/Simulink. The purpose is to verify the mode in which the control system (of the DC motors) is able to describe the trajectories of the end-effector, which are previously used to obtain the motion laws in the motor joints (through the inverse kinematic analysis as a multi-body system).