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DYNAMIC AND KINEMATIC SIMULATION OF KAWASAKI MANIPULATOR
INDUSTRIAL ROBOT USING SOLIDOWORKS AND MATLAB SIMMECHANICS
(a) (b) (c)
Zennir Youcef , Makbouche Adel , Souames Hamza
(a,b,c) Automatic Laboratory of Skikda, Route El-Hadeaik, BP26. 21000 Skikda, Algeria
(a)youcef.zennir@univ-skikda.dz, (b) adel.makbouche@univ-skikda.dz (c) hhhhhsouames@hotmail.fr
ABSTRACT (with 6 DDF) to flexibility movement and different
In this paper we present a graphical Human Machine possible trajectory’s and positions (Lallemand 1994).
Interface (HMI) with a 3D modeling and simulation of For this raison our work consist to study and to control
an industrial robot manipulator Kawsaki FS03N with 6 simulate (in 3Dimention) an industrial robot
DDF. A direct and inverse geometric model, with manipulator kawasaki FS03N (Kawasaki 2003), with
kinematics model of robot has been developed. A the development of a human-machine interface.
dynamic robot model is developed with SolidWorks
software and Matlab SimMechanics and with a bridge 2. MANIPULATOR ROBOT KAWASAKI FS03N
between SolidWorks and Matlab has been developed. The FS03 is a compact multi-purpose robot from the
The developed models use the actual robot dimensions. Kawasaki F series (Kawasaki 2003). Weighing just 3
The aim of our work that this Human Machine Interface kg, it is designed as a portable model at the smaller end
will be used to test different control type before of the range. Despite its size, the FS03 is an advanced
applying to the real robot. Different simulation and 6-axis arm and boasts the highest speed in its class.
reference movements control were performed. Finally, Launched in 2005, the FS03 retains the compact form
and before opening persepectives on future work we of its predecessors but has improved speed and
present the results obtained validated the functioning of acceleration/deceleration characteristics and
our interface both SolidWorks software and Matlab. significantly reduced cycle times. Whether placed on
the floor, suspended from the ceiling or mounted on the
Keywords: Modeling, 3D simulation, Manipulator wall (Option), the FS03 exhibits excellent freedom of
robot, Solid Works software, Matlab-Simulink. movement, tailoring its acceleration and deceleration
speeds to both load weight and robot position for
1. INTRODUCTION optimum performance in all situations. The FS03 is
Robotic science it is a multidisciplinary field ideal as an industrial robot for demanding tasks such as
mechanical, computer science, electronics. A robot is a assembly, handling and inspection of small
machine that can manipulate objects and perform components. Standard equipment includes AS high-
various movements dictated by an easily modifiable level robot language and the ultra-compact D70 fully
program. Program a robot is specify the movement’s digital controller. The FS03 brings robot technology
sequence that will be achieve. Some robots are one step closer to humankind. The various robot arm
equipped with "sense". Is a more or less set of elements are: The base (A), the shoulder (B), the arm
measuring instruments and appreciation (camera, (C), the elbow (D), the forearm (E) and wrist (F) (figure
thermometer, .....) to program a robot how choose the 1).
more adapted movement with the external conditions.
The robots equipped with artificial intelligence devices D
so that they can deal were unexpected and new complex E
situations (the robot could gain some "experience").
Robots are mainly used in industry for performing
repetitive manipulations, especially when the C
manufacturing process is subject to frequent changes. F
The advantage of a robot (robot manipulator) with a B
contribution-man is his consistency: It can perform the
same motion thousands of times in a row without A
feeling any tiredness (Vibert 1987). Other thing, the
robots can be constructed to withstand a basis that
would be harmful or fatal to humans (harmful gases,
high heat, cold body, radiation,...). A manipulator robot Figure 1: Kawasaki FS03N robot
Proceedings of the European Modeling and Simulation Symposium, 2015 46
978-88-97999-57-7; Affenzeller, Bruzzone, Jiménez, Longo, Merkuryev, Zhang Eds.
Three main axes and three wrist axes deliver 6-axis
performance (figure 2). The arm can be located in the
desired work space and the tool location can be set,
allowing greater freedom when locating peripheral
equipment. The arm turning axis (JT1) and the wrist
axes (JT4, 5, 6) have superior high-speed operation and
feature the highest speed specifications in their class.
Cycle time is very short (Cycle time: 0.4 Ð <0.5 sec*),
and high reliability and high precision ensure that they
can withstand the most stringent operating conditions of
industrial robots(Ijeoma 2012)(Tuna 2001).
Figure 3: Motion Range & Dimensions of robot.
3. DIRECT GEOMETRIC MODEL
The direct geometric robot model is used to calculate
the operational coordinates giving the position of the
end-effectors based on joint coordinates. It used also to
determine the configuration (position, orientation) end-
effector of a robot according to the links configuration.
This model is based on the determination of
transformation matrix between R and R(Tuna
Figure 2: Axis Position. 2000) (John 1989). The direct geometric robot
parameters are illustrated in the following table:
Ideal for a variety of operating spaces: floor mount, wall
mount or ceiling mount. Wiring and conduits for tool Table 2: Direct geometric robot parameters.
sensors are built - in inside the arm for easy operation. J α d r
σ j j θ j
The utilization of absolute encoders eliminates the need j j
1 0 0 0 θ 0
to zero the unit when powering up. There is no need to 1
2 0 -π/2 0 θ 0
worry about gravity induced interference with other 2
3 0 0 D3 θ 0
equipment when the power is turned off as all six axes 3
4 0 π/2 0 θ RL4
4
are broken. (Kawasaki 2003). Some specification 5 0 -π/2 0 θ 0
5
6 0 /2 0 0
(characteristics) of robot is illustrated in the following π θ6
table:
The homogeneous transformation matrix of the robot is:
Table 1: Kawasaki FS03N robot Specifications. 1 − 1 0 0 1 − 1 0 0
Specifications FS03N = 1 1 0 0 =1 1 0 0 (1)
Arm type Articulated 0 0 1 0 0 0 1 0
Degrees of Freedom 6 Axes 1 1
Maximum Payload 3kg 0 0 0 0 0 0
Axis Works envelope axis Max. Stroke Max. 2 − 2 0
Speed 0 0
JT1 ± 160° 360°/S = 1 0 (2)
JT2 +150°-60° 250°/S − 2 −2 0 0
JT3 +120°-150° 225°/S 0 0 0 1
2 − 2 0 −2.
JT4 ± 360° 540°/S − 2 −2 1 − 2.
JT5 ±135° 225°/S = (3)
JT6 ±360° 540°/S 0 0 0 0
Max. linear speed 6.000 mm/s 0 0 0 1
Moment and Axis inertia inertia 3 − 3 0
Moment of inertia JT4 5.8N.m 0.12 kg.m 3 3
= 1 0 (4)
JT5 5.8N.m 0.12 kg.m 0 0 0
JT6 2.9N.m 0.03 kg.m 0 0
0 1
Proceedings of the European Modeling and Simulation Symposium, 2015 47
978-88-97999-57-7; Affenzeller, Bruzzone, Jiménez, Longo, Merkuryev, Zhang Eds.
0 − .3 0 =− ∙+ ∙12 + ∙3 ,
3 3 # (24)
− 3 3 0 2.
= (5)
0 = ∙12 + ∙3 (25)
0 0 0 − #
0 0 0 1 = 6 +6 = 6 +6
4 − 4 0 0 Avec 45 + , et 7"+ ,
0 0 −1 −
= (6) 4. INVERSE GEOMETRIC MODEL
4 4 0 0
0 0 0 1 If we try to find all possible configurations for a joint
4 0 4 0 position and orientation data an inverse geometric model
= − 4 0 4 0 (7)
0 −1 0 − (IGM) can meet this need. Knowing that for the serial
0 0 0 1 manipulator type, the development of (IGM) is a very
5 − 4 0 0 difficult and complex issue, where it must reverse a
0 0 1 0 system of nonlinear equations which is not trivial.
T = (8)
− 5 −5 0 0 Nevertheless, and according to the structure of the
0 0 0 1 manipulator robot, there are various methods for solving
5 0 − 5 0 the IGM in an explicit form. In our case with the
− 5 0 −5 0
= (9) manipulator robot Kawasaki FS03N used in industry, the
0 −1 0 0 Paul methods can give the solutions of IGM in explicit
0 0 0 1 form (Paul 1981), (Lallemand 1994). Hence we obtain
6 − 6 0 0 the following solutions:
0 0 −1 0
= (10)
6 6 0 0 + ,
0 0 0 1 6 =$8$" 90,0 ; ; 6 = $8$" , (26)
6 0 6 0 ! #
= − 6 0 6 0 (11)
0 −1 0 0 With:
0 0 0 1 > ? ? ? > ? ? ?
=.∙/<ξ∙=∙ = @. @/ and = =∙/<ξ∙=∙ = @. @/ ,
Finally: =?@.? =?@.?
T =T ∗T ∗T ∗T ∗T ∗T (12) ξ = ±1 .
B =0 ∙ +0 ∙ ; C = −2∙0 ∙3 ;
" $ 0 = / .
! ! !
" $ 0 D =−2∙B ∙3 (27)
# # # A p
= " =& ) (13)
% % $ 0 0 0 0 1
% + , + , + , + ,
E = 12 − 3 + 0 + B (28)
0 0 0 1 / G L ∙N
6 =$8$" F0 ∙ −B ∙ + H ,−B ∙ + M ?O
= ∙+ ∙+ ∙ ∙ − ∙ ,− ∙ ∙ ,− / IJ IJ
! K K
∙+ ∙ ∙ + ∙ , (29)
(14)
∙ ∙ ∙ − ∙ − ∙ ∙
= ∙+ + , , − 6 =$8$" 9$ ∙ −$ ∙ ,− ∙9 $ + $ ;−
. ∙ ∙ + ∙ ! # ! #
∙+ ,
(15) $ ∙ ; (30)
= ∙ ∙ ∙ − ∙ + ∙ ∙ %
+ ,
/ (16) + ,
6 =6 +π ; 6 = $8$" , (31)
" = ∙ − ∙+ ∙ ∙ + ∙ ,+ ∙ ∙
! + With :
,+ ∙+ ∙ ∙ − ∙ ,
(17) =− ∙P ∙9 $ + $ ;+ ∙$ Q+ ∙
− ∙ ∙ + ∙ ! # %
" = ∙+ ∙+ , + ∙ ∙
. 9 $ − $ ; (33)
+ ∙ ∙ ∙ − ∙ ! #
, + ,
(18) =− ∙P $ + $ + ∙$ Q (34)
" =− ∙+ ∙ ∙ + ∙ ,+ ∙ ∙ ! # %
/ + ,
6 =$8$" , (35)
(19) With :
$ =− ∙ ∙ ∙ + ∙ + ∙ ∙
! + , (20) =− ∙P ∙9 + ;+ ∙ Q− ∙
$ =− ∙+ ∙ ∙ + ∙ ,+ ∙ ∙ (21) ! # %
# 9 − ; (36)
! #
$ =− ∙ ∙ + ∙
/ (22) =− ∙P ∙9 " + " ;+ ∙" Q− ∙
0 =− ∙ ∙12 + ∙3 ! # %
+ ,
! (23) 9 " − " ; (37)
! #
Proceedings of the European Modeling and Simulation Symposium, 2015 48
978-88-97999-57-7; Affenzeller, Bruzzone, Jiménez, Longo, Merkuryev, Zhang Eds.
+ , + , + , developed in 1993 and Bought in 1997 by Dassault
=45 6 , = 7" 6 , = 45 6 ,
+ , Systèmes. SolidWorks is design automation software
= 7" 6 (38)
and in this software, you sketch ideas and experiment
5. INVERSE KINEMATIC MODEL with different designs to create 3D models. It’s used by
The inverse kinematics model (IKM), it positions a students, designers, engineers, and other professionals
joint, and generates the joints Parents configuration to produce simple and complex parts, assemblies, and
required to achieve the desired position. Hence an drawings (Alejandro 2007). Our robot consists of six
inverse kinematics problem is therefore to find a robot segments and a mass attached to the terminal member.
joints configuration in the robot skeleton for positioning With real demotion of each segments we obtained
a hinge according to a direction and a translation perfect robot reproduction. The various robot segments
defined at the beginning. The inverse kinematics model before and after assembly are illustrated in the
(IKM) describes the speed of operational coordinates following figure:
with joint speeds (yin 2011), (Megahed 1991).
T
R U
C=J(q) ∗ SR=& ) (39)
V
U WX
J(q) : Jacobian matrix (m× n), equal WY ;
V : Translation speed of "O " . Its equal derivative of
[ n
P vector;
0 n
w : Rotation speed of Rn [9]
[
For our case (robot FS03N) we must calculating the
basic Jacobian matrix.
T
R U R
C=& )=^ ∙SR =^ ∙_ (40)
] U U
We noted : U
T =+$ Λ 2 ,SR
a,U a a,U ab
` V =$ .SR
a,U a a
T = ∑U T =∑U +$ Λ 2 ,SR
U a< a,U a< a a,U ab
⟹` V =∑U V =∑U $ .SR (41)
U a< a,U a< a a
With:
th
K : index k joint of the robot;
V and w : translational and rotation speed;
(k,n) (k,n)
L denotes the original vector O and extremity vector
(k,n) k
On;
a : unit vector along the Z axis of the articulation k.
k k
e Figure 4: Various robot segments.
Each column of the matrix ^ is expressed like
following: 7. SIMULATION
a e a e 3D simulation of the robot kawasakiFS03N) is
− 0 +0 " constructed Malab-Simulink with simmechanics block
f =g # a ! ah (42)
,a $e library (Kalapyshina, 2014). The System (robot) is
a represented by the following blocks: the body, joints,
6. ROBOT KAWASAKI (FS03N) MODEL IN constraints, and force. The SimMechanics block library
SOLIDWORKS : provided us the tools to formulate and solve motion
Using a 3D computer aided design (CAD) software equations of complete mechanical system.
allowed us to model, simulate and make the data
management and processes of system. Many 3D We used a bridge between solidworks_matlab with
software has been developed by Dassault Systems like same adaptations (Simmechanics 2007), (Matlab 2010)
Catia, ENOVIA, DELMIA, Simula, Exalead and to operate the robot model that we designed with
3DVIA, Solidworks and other. solidworks. The Simulink modeling then appears:
Various functions can be realization with each different
software. We opted to use solidworks since our goal is
create a link with Matlab-Simulink software and then
control simulate laws develop. SolidWorks is CAD
software "Computer aided design". It has been
Proceedings of the European Modeling and Simulation Symposium, 2015 49
978-88-97999-57-7; Affenzeller, Bruzzone, Jiménez, Longo, Merkuryev, Zhang Eds.
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