Implementation of Robot Control Algorithms by Real-Time Control System

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.

• Periodical: International Journal of Engineering Research in Africa (Volume 18)
• Pages: 112-119
• DOI: https://doi.org/10.4028/www.scientific.net/JERA.18.112
• Online since: October 2015
• Authors: Viliam Fedák, Frantisek Durovsky, Robert Uveges, Karol Kyslan, Milan Lacko
• Keywords: Direct Kinematics, HIL Simulation, Inverse Kinematics, Robot Control, Robotics

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