HIL Simulator of Drives of an Industrial Robot with 6 DOF

Viliam Fedak, Frantisek Durovsky, Robert Uveges, Karol Kyslan, Milan Lacko


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.

DOI: http://dx.doi.org/10.5755/j01.eee.21.2.11506


Robotics; robot control; motion analysis; hardware-in-the-loop.

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Print ISSN: 1392-1215
Online ISSN: 2029-5731