Implementation of Robot Control Algorithms by Real-Time Control System-Reference-Cited by-同舟云学术

Implementation of Robot Control Algorithms by Real-Time Control System

Published:2015-10 Issue: Volume:18 Page:112-119
ISSN:1663-4144
Container-title:International Journal of Engineering Research in Africa
language:
Short-container-title:JERA

Author:

Fedak Viliam¹,Durovsky Frantisek¹,Uveges Robert¹,Kyslan Karol¹^ORCID,Lacko Milan¹

Affiliation:

1. Technical University of Kosice

Abstract

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.

Publisher

Trans Tech Publications, Ltd.

Link

https://www.scientific.net/JERA.18.112.pdf

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