SOFTWARE SYSTEM FOR SIMULATION AND CONTROL SYNTHESIS OF ROBOTS FOR METAL MACHINING PROCESSES

The software system for simulation and synthesis of control of manipulation robots which are intended for metal machining is presented in the paper. The package includes various dynamic models of a robot in the contact with a constraint surface. These models are considered and the problems of application of these models for simulation and synthesis of position/force control for manipulation robots are addressed. The various dynamic models are compared in the paper from standpoints of both computer simulation and their application within position/force control schemes. Numerical examples of these comparisons are given. The package also includes models of some specific robotic tasks. The special emphasis is given to simulation and control of robotic deburring process.