Virtual twin modeling of the Mitsubishi Rv-2frl industrial robot in the MATLAB programmable environment

Abstract

Industrial robots are complex mechatronic systems whose effective modeling plays a significant role in the development of virtual twins and advanced control systems. This paper presents the development of the kinematic and dynamic model of the Mitsubishi RV-2FRL industrial robot in the MATLAB programmable environment for the implementation of its virtual twin. The robot's kinematic model was developed based on the Denavit–Hartenberg method, through the definition of geometric parameters and transformation matrices required for determining the position and orientation of the end effector. Both forward and inverse kinematic models were implemented, enabling motion analysis and the generation of desired joint configurations. The dynamic model was derived using the Euler–Lagrange formalism, incorporating inertial, Coriolis, centrifugal, and gravitational effects acting on the robot. The developed mathematical models were implemented and validated in the MATLAB environment through appropriate simulations. The obtained results demonstrate that the models accurately describe the kinematic and dynamic behavior of the robot and provide a reliable foundation for the development of its virtual twin. Such an approach enables system performance analysis, simulation of various operating scenarios, and the development of control algorithms prior to their implementation on the physical robotic system.