The paper deals with design of a Hardware-inthe-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.
The paper describes control structure for driving system of a leg in six-legged robot vehicle. It can walk using locked wheels or it can roll on unlocked wheels. The leg joints are driven by hydraulic actuating units. Two different control structures are analyzed – control of a hydraulic cylinder through a mechanical gear and a structure for control of two hydraulic cylinders through a double eccentric gear mechanism. For control of the actuating units a conventional cascade structure with PI controllers completed by pre-compensation of controlled and observed variables is used. The performance of the structure has been proved on experimental stand and the experimental results are reported.
The paper deals with development and implementation of the direct and inverse kinematics to control of 6 DOF industrial robot SEF-ROBOTER SR25 by a real time control system. To obtain the angular position of each joint an iterative algorithm is applied that is developed in the Simulink program. This solution creates a basis for real time control of the robot drives utilizing features of SIEMENS SINAMICS family of frequency converters. The developed control system presents a universal platform enabling to debug any robot control algorithm and also easy to change a desired trajectory of the end effector. The equipment is suitable for testing different trajectories of the robot and is suitable also for educational purposes.
This paper collects information about actual status and future trends of research and development in sphere of open robotic controllers and pointing out the importance of its advances in research, academic and commercial field. Mainly two different approaches were described there. First of them are Hardware In the Loop simulators, which are usually programmed with wellknown commercial products from academic field. On the other side, in comparison with commercial products, are open source robotic middleware which is freely available and it is managed by community of researchers and enthusiasts. The main advantage of this approach are large community support, but software may be unstable and there should be also compatibility issues between versions.
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