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
Highlights
A standard industrial robot generally does not enable open access into its control system
In order to concentrate on description of the real-time control system of the HIL, we have omitted derivation of direct and inverse kinematic models as it is a standard task in robotics
The system under consideration is an industrial robotic manipulator SEF ROBOTER SR25 [9] (Fig. 1) with six rotational joints and six degrees of freedom (DOF), where original control and power sections were replaced by components of the SINAMICS S120 series by Siemens, [10]
Summary
A standard industrial robot generally does not enable open access into its control system. For development of robot algorithms and for teaching purposes it is often required that the control algorithms should be known and modifiable. This can be achieved by introducing a Hardware-in-the-Loop (HIL) simulator [1] and connecting it to the robotic system (more exactly – to robot drives). Our paper takes advantages of HIL simulation and utilise standard features of industrial drives – a direct access into control circuit. In order to concentrate on description of the real-time control system of the HIL, we have omitted derivation of direct and inverse kinematic models as it is a standard task in robotics. After a short introduction of the robot system we describe used HW and SW parts, communication within the control system, control circuits of the drives, mention generating of desired trajectory and its solution within the system and we present brief experimental results
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