HIL simulator of drives of an industrial robot with 6 DOF

6Citations
Citations of this article
12Readers
Mendeley users who have this article in their library.

Abstract

The paper deals with design of a Hardware-in-the-Loop simulator of an industrial robot with six degrees of freedom. The robot is driven by industrial frequency converters of the SINAMICS S120 type. They communicate via CAN bus with the master control system RT-LAB executing control algorithms in real time. Such a complex task combines information from mechanics, electric drives, control theory, robotics, programming, and a deep knowledge of a frequency converter control structure. Proposed algorithms are verified experimentally and the resulting time responses show good agreement with expected results.

Cite

CITATION STYLE

APA

Fedak, V., Durovsky, F., Uveges, R., Kyslan, K., & Lacko, M. (2015). HIL simulator of drives of an industrial robot with 6 DOF. Elektronika Ir Elektrotechnika, 21(2), 14–19. https://doi.org/10.5755/j01.eee.21.2.11506

Register to see more suggestions

Mendeley helps you to discover research relevant for your work.

Already have an account?

Save time finding and organizing research with Mendeley

Sign up for free