‫ﻤﺎﺠستير ﻤ ﺎﺘروﻨ س‬ ‫ﻛﻠ ﺔ اﻟﻬندﺴﺔ‬ ‫ﺠﺎﻤﻌﺔ إدﻟب‬

.2023-2022 ‫ ﻟﻠﻌﺎم اﻟدراﺴﻲ‬- ‫ ﻤﻘرر أﻨظمﺔ ﻤ ﺎﺘروﻨ س‬- ‫ﺴﻠم ﺘصح ﺢ إﻤتحﺎن اﻟﻌمﻠﻲ‬
ze
:‫اﻟسؤاﻝ اﻷوﻝ‬
xe
z0
‫اﻹﺤداﺜ ﺎت واﻟجدوﻝ‬ 1
z1
Le z4 z3
j σj αj dj θj rj

x4 x 1 0 0 0 θ1 0
z2x3 2
x1
x0 2 0 π/2 0 θ2 0
3 0 −π/2 0 θ3 0
4 0 π/2 0 θ4 0
E 2 0 0 0 Le

‫ اﻟمتﻐيرات اﻟﻬندﺴ ﺔ ﻟﻠرو وت‬:1 ‫ﺠدوﻝ‬

‫ اﻟرﺴﻎ ﻓﻲ إﺤدى اﻟواﺠﻬﺎت اﻟرو وﺘ ﺔ اﻟتﻲ ﺘمنﺢ اﻟحس اﻟﻠمسﻲ اﻟحر ﻲ‬:1 ‫ﺸ ﻞ‬
‫ اﻟنموذج اﻟﻬندﺴﻲ اﻟم ﺎﺸر‬2

    
 
C1 −S1 0 0 C2 −S2 0 0 C3 −S3 0 0 C4 −S4 0 0
       
       
 S1 C1 0 0 1 0 0 −1 0  0 0 1 0 3 0 0 −1 0
0
T1 = 

 , T2 = 
 
,

2
T3 = 

 , T4 = 
 


0 0 1 0  S2 C2 0 0 −S3 −C3 0 0  S4 C4 0 0
       
0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1
     
1 0 0 0 C4 −S4 0 0 C3C4 −C3S4 S3 Le S3
     
     
0 1 00 3  0 0 −1 −L   S4 C4 0 0 
TE =   , TE = 3 T4 4 TE =   , 2 TE = 2 T3 3 TE =  
4 e
     
0 0 1 Le   S4 C4 0 0  −S3C4 S3S4 C3 Le C3
     
0 0 0 1 0 0 0 1 0 0 0 1
 
C2C3C4 − S2S4 −(C2C3S4 + S2C4) C2S3 Le C2S3
 
 
 S3C4 −S3S4 −C3 −L C3 
1 1 2
TE = T2 TE =  e


S2C3C4 + C2S4 −S2C3S4 + C2C4 S2S3 Le S2S3 
 
0 0 0 1
 
C1(C2C3C4 − S2S4) − S1S3C4 −C1(C2C3S4 + S2C4) + S1S3S4 C1C2S3 + S1C3 Le (C1C2S3 + S1C3)
 
S1(C2C3C4 − S2S4) + C1S3C4 −S1(C2C3S4 + S2C4) − C1S3S4 S1C2S3 − C1C3 Le (S1C2S3 − C1C3)
 
0
TE = T1 TE = 
0 1

 S2C3C4 + C2S4 −S2C3S4 + C2C4 S2S3 Le S2S3 
 
0 0 0 1

1
‫اﻟم ﺎﻨيزم اﻟمدروس ذي أرﻊ درﺠﺎت ﺤرﺔ‪ .‬ﻟذا ﻔﻲ ﻟﻠتﻌبير ﻋن اﻟنموذج اﻟﻬندﺴﻲ اﻟم ﺎﺸر إﺨت ﺎر أرﻊ ﻋنﺎﺼر ﻤستﻘﻠﺔ ش ﻞ ﻛﺎﻤﻞ‬
‫ﻌضﻬﺎ ﻋن ﻌض ﻤن اﻟمصﻔوﻓﺔ اﻟسﺎ ﻘﺔ ‪ .‬ﻨﻼﺤظ أن اﻹﻋتمﺎد ﺔ ﺒين اﻟﻌنﺎﺼر ﻏير واﻀحﺔ اﻟمﻌﺎﻟم وﻤن اﻟصﻌب اﻟتﻌرف ﻋﻠﻰ اﻟﻌنﺎﺼر‬
‫اﻟمستﻘﻠﺔ ﻋن ﻌضﻬﺎ ﻟذﻟك ﻨﻠجﺄ إﻟﻰ ﻛتﺎ ﺔ اﻟنموذج اﻟﻬندﺴﻲ اﻟم ﺎﺸر ش ﻠﻪ اﻟكﺎﻤﻞ؛ أي‪:‬‬
‫(‬ ‫)‬
‫‪Px = Le C1C2S3 + S1C3‬‬
‫(‬ ‫)‬ ‫‪az = S2S3‬‬
‫(‬ ‫)‬
‫‪Py = Le S1C2S3 − C1C3‬‬
‫‪nx = − C1 C2C3S4 + S2C4 + S1S3S4‬‬
‫(‬ ‫)‬
‫‪Pz = Le S2S3‬‬
‫‪ny = − S1 C2C3S4 + S2C4 − C1S3S4‬‬
‫‪ax = C1C2S3 + S1C3‬‬
‫‪nz = − S2C3S4 + C2C4‬‬
‫‪ay = S1C2S3 − C1C3‬‬

‫اﻟنموذج اﻟﻬندﺴﻲ اﻟﻌ سﻲ‬ ‫‪3‬‬

‫‪‬‬ ‫‪j−1‬‬ ‫‪T j−1‬‬
‫‪‬‬ ‫‪‬‬ ‫‪‬‬
‫‪−‬‬ ‫‪sj‬‬ ‫‪Pj‬‬ ‫‪s‬‬ ‫‪nx‬‬ ‫‪ax‬‬ ‫‪Px‬‬
‫‪‬‬ ‫‪‬‬ ‫‪ x‬‬ ‫‪‬‬
‫‪‬‬ ‫‪j−1‬‬ ‫‪T‬‬ ‫‪j−1‬‬ ‫‪‬‬
‫‪T j−1‬‬ ‫‪‬‬ ‫‪‬‬
‫‪‬‬ ‫‪Aj‬‬ ‫‪−‬‬ ‫‪Pj ‬‬
‫‪nj‬‬ ‫‪ sy‬‬ ‫‪ny‬‬ ‫‪ay‬‬ ‫‪Py ‬‬
‫‪Tj−1‬‬ ‫‪=‬‬ ‫‪,‬‬ ‫‪‬‬ ‫‪‬‬
‫‪j−1‬‬
‫‪j‬‬
‫= ‪Tj−1‬‬ ‫‪‬‬ ‫‪‬‬ ‫‪U0 = ‬‬ ‫‪‬‬
‫‪‬‬ ‫‪Pj ‬‬ ‫‪s‬‬ ‫‪Pz ‬‬
‫‪j−1 T j−1‬‬
‫‪− aj‬‬ ‫‪nz‬‬ ‫‪az‬‬
‫‪‬‬ ‫‪‬‬ ‫‪ z‬‬ ‫‪‬‬
‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪1‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪1‬‬

‫ﻓﻲ اﻟنموذج اﻟﻌ سﻲ ُﻌﻠم ‪ U0‬اﻟتﻲ ﺘمثﻞ ﻤوﻀﻊ اﻟﻌنصر اﻟنﻬﺎﺌﻲ‪.‬‬

‫ﻋزﻝ ‪: θ1‬‬ ‫‪1.3‬‬

‫ﻨطبق اﻟمﻘﺎرﻨﺔ‪ .U0 = 0 TE :‬وﻨﻼﺤظ أﻨﻬﺎ ﻏير ﻤجد ﺔ‪ .‬ﻟذﻟك ﻨﻠجﺄ ﻟتطبيق اﻟمﻘﺎرﻨﺔ‪.U1 = 1 T0 U0 = 1 TE :‬‬
‫‪‬‬ ‫‪‬‬
‫‪C1 sx + S1 sy‬‬ ‫‪...‬‬
‫‪‬‬ ‫‪‬‬
‫‪‬‬ ‫‪‬‬
‫‪−S1 sx + C1 sy‬‬ ‫‪. . . 1‬‬
‫‪U1 = T0 U0 == ‬‬
‫‪1‬‬
‫‪‬‬
‫‪ = TE‬‬
‫‪‬‬
‫‪‬‬ ‫‪Sz‬‬ ‫‪. . .‬‬
‫‪‬‬ ‫‪‬‬
‫‪0‬‬ ‫‪...‬‬

‫ﺒتطبيق اﻟمﻘﺎرﻨﺔ ﻨجد‪:‬‬

‫‪‬‬
‫‪−S1 ax + C1 ay = −C3‬‬ ‫‪‬‬
‫⇒= ) ‪=⇒ −S1 Px + C1 Py = Le (−S1 ax + C1 ay‬‬
‫‪− S1 Px + C1 Py = −Le C3 ‬‬
‫(‬ ‫)‬ ‫(‬ ‫)‬
‫‪S1‬‬ ‫‪L e a y − Py‬‬
‫‪θ1 = tan−1‬‬ ‫‪= tan−1‬‬ ‫;‬ ‫‪θ1′ = θ1 + π‬‬
‫‪C1‬‬ ‫‪L e a x − Px‬‬

‫ﻋزﻝ ‪: θ2‬‬ ‫‪2.3‬‬

‫‪‬‬ ‫(‬ ‫)‬ ‫(‬ ‫)‬ ‫(‬ ‫)‬

‫‪‬‬ ‫‪−1‬‬ ‫‪S2‬‬ ‫‪−1‬‬ ‫‪az‬‬ ‫‪−1‬‬ ‫‪Pz‬‬
‫‪C1 ax + S1 ay = C2 S3‬‬ ‫‪θ‬‬ ‫‪2‬‬ ‫=‬ ‫‪tan‬‬ ‫=‬ ‫‪tan‬‬ ‫=‬ ‫‪tan‬‬
‫⇒=‬ ‫‪C2‬‬ ‫‪C1 ax + S1 ay‬‬ ‫‪C1 Px + S1 Py‬‬
‫‪az = S2 S3‬‬ ‫‪‬‬ ‫‪′‬‬
‫‪θ = θ2 + π‬‬ ‫‪2‬‬

‫‪2‬‬
 : θ3 ‫ﻋزﻝ‬ 3.3

( ) ( )
 −1 S3 C1 ax + S1 ay
( −1 ) ; θ3′ = θ3 + π
 θ3 = tan = tan
C1 ax + S1 ay = C2 S3 
 C3

 C2 S1 ax − C1 ay


− S1 ax + C1 ay = −C3 
 ( ) ( )

 az Le C2 az

 = tan −1 ( ) = tan −1 ( )
az = S2 S3
=⇒ S2 S1 ax − C1 ay S2 C1 Px + S1 Py
C1 Px + S1 Py = Le C2 C3 


 ( ) ( )

 ( L C1 a + S1 a ) ( L C1 a + S1 a )
− S1 Px + C1 Py = −Le C3  

 e x y e x y

 = tan −1
= tan −1 ( )
 C1 Px + S1 Py
Pz = Le S2 S3
C2 S1 ax − C1 ay

: θ4 ‫ﻋزﻝ‬ 4.3

 ( ) ( )
 −1 S4 −1 S1 nx − C1 ny
−S1 sx + C1 sy = S3 C4 θ4 = tan = tan
=⇒ C4 −S1 sx + C1 sy
− S1 nx + C1 ny = −S3 S4  θ4′ = θ4 + π

‫ﺨوارزﻤ ﺔ رﺴم ﻓضﺎء اﻟﻌمﻞ‬ 4

Algorithm 1 Robot Task Space

1: procedure : Calculate and plot a robot task space( )
2: Define : Le .
3: Define : range of θ1 , θ2 , θ3 , θ4 .
4: for 0 ≤ θ1 ≤ π do
5: for 0 ≤ θ2 ≤ π do
6: for 0 ≤ θ3 ≤ π do
7: for 0 ≤ θ4 ≤(π do )
8: Px = Le C1C2S3 + S1C3 ;
( )
9: Py = Le S1C2S3 − C1C3 ;
10: Pz = Le S2S3
11: Plot(Px , Py , Pz ) ;
12: end for
13: end for
14: end for
15: end for
16: end procedure

3
 ‫اﻟسؤاﻝ اﻟثﺎﻨﻲ‪:‬‬

‫= )‪ G(s‬آﺨذا ﻌين اﻹﻋت ﺎر ﻓﻘط ﺤموﻟتﻪ اﻟذاﺘ ﺔ )ﻋطﺎﻟﺔ و إﺤتكﺎك(‪ .‬ﺜم‬ ‫‪ .1‬أوﺠد ﺘﺎ ﻊ اﻟتحو ﻞ اﻟذي مثﻞ دﻴنﺎﻤ ك ﻫذا اﻟمحرك‬
‫)‪θ(s‬‬
‫)‪Ea (s‬‬
‫أﻨشﺊ اﻟمخطط اﻟصندوﻗﻲ اﻟذي مثﻞ ﻫذا اﻟمحرك‪.‬‬

‫ﺸ ﻞ ‪ :2‬ﺘﻔصيﻞ وﻤخطط ﺘوﺼيﻞ ﻤحرك ﺘ ﺎر ﻤستمر‬

‫)‪ϕ(t) = Kf if (t‬‬

‫‪Tm (t) = K1 ϕ(t)ia (t) = K1 Kf if (t)ia (t).‬‬

‫ﻨتح م ﺎﻟجﻬد ﻋﻠﻰ طرﻓﻲ اﻟدوار إذا ﻨثبت اﻟجﻬد ﻋﻠﻰ طرﻓﻲ اﻟدوار‪ ،‬أي‪ if (t) = const :‬و ون ﺎﻟنت جﺔ ﻌد إﺠراء ﺘحو ﻞ ﻻ ﻼس‪:‬‬
‫(‬ ‫)‬
‫= )‪Tm (s‬‬ ‫)‪K1 Kf If (s) Ia (s‬‬

‫)‪Tm (s) = Km Ia (s‬‬

‫(‬ ‫)‬
‫)‪Ea (s) = Ra + La s Ia (s) + Eb (s‬‬

‫)‪Eb (s) = Kb ω(s) = Kb s θm (s‬‬

‫)‪Ea (s) − Kb s θm (s‬‬
‫= )‪Ia (s‬‬ ‫(‬ ‫)‬
‫‪Ra + L a s‬‬

‫)‪TL (s) = Js2 θm (s) + bsθm (s) = Tm (s) − Td (s‬‬

‫‪Td (s) = 0‬‬

‫)‪θm (s‬‬ ‫‪Km‬‬ ‫‪Km‬‬
‫= )‪Gm (s‬‬ ‫( =‬ ‫( =)‬ ‫‪).‬‬
‫)‪Ea (s‬‬
‫‪s (Ra + La s)(Js + b) + Kb Km‬‬ ‫‪s s2 + 2ξωn s + ωn2‬‬

‫‪4‬‬
‫أي أن ﻤحرك اﻟت ﺎر اﻟمستمر سﻠك ﻓﻲ اﺴتجﺎﺒتﻪ ﺴﻠوك ﻨظﺎم ﻤن اﻟدرﺠﺔ اﻟثﺎﻨ ﺔ‪ .‬ﻻﺤظ م ن أن ﻨكتب ﺘﺎ ﻊ اﻟتحو ﻞ اﻟسﺎﺒق ﺎﻟص ﻐﺔ‪:‬‬

‫‪Km‬‬ ‫‪La‬‬
‫( = )‪Gm (s‬‬ ‫;)‬ ‫= ‪τa‬‬ ‫‪≪1‬‬ ‫⇒‬ ‫‪(1 + τa s) → 1.‬‬
‫‪Ra‬‬
‫‪s Ra (1 + τa s)(Js + b) + Kb Km‬‬

‫‪Km‬‬
‫( =‬ ‫)‬
‫‪s Ra (Js + b) + Kb Km‬‬

‫‪K‬‬ ‫‪Km‬‬ ‫‪Ra J‬‬

‫=‬ ‫;‬ ‫=‪K‬‬ ‫‪,‬‬ ‫= ‪τ1‬‬ ‫‪,‬‬ ‫‪Km = Kb‬‬
‫)‪s(τ1 s + 1‬‬ ‫‪Ra b + Kb Km‬‬ ‫‪Ra b + Kb Km‬‬

‫ﺸ ﻞ ‪ :3‬اﻟمخطط اﻟصندوﻗﻲ ﻟنموذج ﻤحرك ﺘ ﺎر ﻤستمر ﻴتم اﻟتح م ﻪ ﻋن طرق ﺘﻐيير اﻟجﻬد اﻟمطبق ﻋﻠﻰ ﻗطبﻲ ﻤﻠﻔﺎت اﻟدوار‬

‫********** اﻨتﻬﻰ **********‬

‫‪5‬‬