Implementation of Robot Control Algorithms by Real-Time Control System

被引：1
|
作者：
Viliam, Fedak [1 ]
Frantisek, Durovsky [1 ]
Robert, Uveges [1 ]
Kyslan, Karol [1 ]
Milan, Lacko [1 ]
机构：
[1] Tech Univ Kosice, Fac Elect Engn & Informat, Dept Elect Engn & Mech, Letna 9, Kosice 04200, Slovakia
来源：
INTERNATIONAL JOURNAL OF ENGINEERING RESEARCH IN AFRICA | 2015年 / 18卷
关键词：
Robotics; direct kinematics; inverse kinematics; robot control; HIL simulation;
D O I：
10.4028/www.scientific.net/JERA.18.112
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
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.
引用
收藏
页码：112 / 119
页数：8
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