HIL Simulator of Drives of an Industrial Robot with 6 DOF

Authors

  • 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

DOI:

https://doi.org/10.5755/j01.eee.21.2.11506

Keywords:

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

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.

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

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Published

2015-04-09

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

Issue

Vol. 21 No. 2 (2015)

Section

AUTOMATION, ROBOTICS

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