HIL Simulator of Drives of an Industrial Robot with 6 DOF

  • Viliam Fedak Technical University of Kosice
  • Frantisek Durovsky Technical University of Kosice
  • Robert Uveges Technical University of Kosice
  • Karol Kyslan Technical University of Kosice
  • Milan Lacko Technical University of Kosice
Keywords: Robotics, robot control, motion analysis, hardware-in-the-loop.


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

How to Cite
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