Development of a spatial orientation model for the actuator of a mechatronic system

Abstract

Purpose. Development of a control system for a mechatronic system, taking into account the geometric solution of the inverse kinematics problem. The methods. The research was based on the principles of theoretical and applied mechanics, as well as the Denavit-Hartenberg transformation model. The formation of graphical computational models and kinematic diagrams simplified the development of the mathematical model of the dynamic system without considering the forces acting on the mechanism links. The possibility of using matrix transformations to simplify the search for generalized coordinates and transition to the local disposition of each link was explored for further integration of the obtained results into automation and control systems. Findings. The obtained results, determining the trajectory of the gripper using inverse kinematics models, allowed the development of algorithms for determining the position of mechanism links with the possibility of software implementation of the control system. Identifying patterns for determining accurate position coordinates by the matrix method allows the application of open-source software for real-time position calculations. The originality. The use of modern technologies for visual assessment of the external environment and coordinating control impulses of the executive body drive was first achieved based on the mathematical model of the inverse kinematics of a multi-link mechanism. This automated the determination of local coordinates for each link within its degrees of freedom and algorithmized this process. Combining the mathematical models of mechanism kinematics and the matrix form of coordinate search allows investigating the influence of the displacement of the i-th link of the mechatronic technical complex on the overall system, considering the acting force systems and the specified spatial orientation of both the executive body and intermediate links. Practical implementation. The implementation of obtained kinematic models using the matrix method enables the software realization of algorithms for searching the coordinates of the i-th mechanism link, automating the control process with the task of final positions, determining the level of integral error during the displacement of the initial link, and providing the possibility of programming autonomous mechatronic systems with open-source code. As a result, the introduction of semi or fully autonomous technical complexes will automate technological processes in various industries.