MODELLING AND SIMULATION OF AS ROBOT

The research results of AS robot are presented. The robot has manipulation, drive and control systems. Graphic models of the AS robot were worked out in Simulink integrated with Matlab. The graphic models contain the mathematic models of these three systems. The settings of servo controllers were computed with have taken account the extreme values of motor effective inertias. The mathematic model of manipulator dynamics is taking into consideration the distribution of the link mass. These models have been used for the simulation of motion of the AS robot for exemplary straight line desired trajectory.