Modeling of the Industrial Manipulator Based on PLC Siemens and Step Motors Festo

In this paper, we present modeling of the industrial manipulator with 5 degrees of freedom that is using the software package Matlab Simulink. This model allows to evaluate the dynamic and static characteristics of the manipulator. The paper considers the possibility of solving the inverse kinematics using numerical methods. Also, a virtual environment that displays model motion in real-time using a virtual 3-D model is presented in the paper. As an example, the paper shows applying the results of the work to the physical model of the manipulator. That model uses the Festo stepper motors and the PLC Siemens. This work was performed in the Festo faculty of Moscow Power Engineering Institute.