Simulador de un Manipulador de 6 Grados de Libertad

Abstract

A computational simulation tool has been developed for a manipulator of six~grees of freedom.
The figure on the screen is composed by simple geometrical elements. Using a characterization technic based on kinematic descriptions and "movil" systetns of reference arranged according to the Denavit-Hartenberg (DH) notation, the method allows the real time animation on the screen.
The simulator is constituted for an interface between the user and a manipulator CYBER 3 10 with mathematical modules that do the following operations: I) inverse kinematic, solution
through an uncoupled kinematic technic, 2) generation of hyperbolic trajectories that permits the evasion of obstacles and the control of velocity, acceleration and jerk at the point of interest. This software was developed in a plataform of Visual Basic® to get graphic versatility. The calculus modules were developed in Fortran 77 to ensure faster mathematical operations. Additionally, the package includes some "facilities" such as: different types of visualperspectives on the screen (isometric or conic with two focuses), navigation effect, zoom. execution of a specific routine of
movements any number of times, manual control of movements. report of cartesian coordinates of the reference point to the final efector and its orientation in the space according to the Euler angles, and the path of the trajectory.