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Svrha ovog završnog rada je izvod matematičkog modela dinamičkog ponašanja SCARA manipulatora te njegova implementacija u vidu računalnog programa. Osim dinamike potrebno je opisati i kinematiku manipulatora. Prvenstveno je opisan sami manipulator SCARA, nakon toga riješen je direktan problem kinematike za manipulator korištenjem matrica homogenih transformacija. Nakon toga izvedene su jednadžbe gibanja, odnosno riješen problem direktne dinamike manipulatora pomoću Euler-Langrange metode. Sama dinamika zapisana je matrično, te je za nju zapisan najjednostavniji zapis u svrhu što manjeg broja matematičkih operacija. The purpose of this final paper is the derivation of a mathematical model of the dynamic behavior of the SCARA manipulator and its implementation in the form of a computer program. In addition to the dynamics, it is also necessary to describe the kinematics of the manipulator. First of all, the SCARA manipulator itself is described, after which the direct problem of kinematics for the manipulator is solved using matrices of homogeneous transformations. After that, the equations of motion were derived, that is, the problem of the direct dynamics of the manipulator was solved using the Euler-Langrange method. The dynamics itself is written in a matrix in simplest notation for it in order to reduce the number of mathematical operations. |
