Numerical model of Fanuc AM100iB robot

The article presents a numerical model of Fanuc AM 100iB robot, prepared in the form of a block diagram in Simulink software, using the SimMechanics toolbox. The main task of the numerical model of Fanuc AM 100iB robot is to calculate the value of torques putting a load on motor shafts, and to calculate the values of kinematic parameters of the robot's arms in real time and in interactive mode. The values and format of torques putting a load on subsequent joints, and then on the motor shafts, resulted from the effect of the simultaneous action of all torques and the delay, resulting from the implementation of numerical calculations in real time. The numerical model developed is a result of design focused on recreating the effects of simultaneous action of all these factors, which are present in the actual drives and affect the consumption of electricity. A very important criterion, taken into account when designing the model, was also its computational efficiency. In addition, the model was used to visualise the work of the tested machine in three-dimensional space.