Title :
A nonlinear load simulator for robot manipulators
Author :
Temeltas, H. ; Gokasan, M. ; Bogosyan, O.S.
Author_Institution :
Istanbul Tech. Univ., Turkey
Abstract :
This study is on the development of a Hardware-In-the-Loop system for the high performance control of a 2-link direct drive planar arm. At this stage of the study, necessary hardware and software has been set-up and the actual torque components derived through Euler-Lagrange formulation have been simulated in real time on the test-bed, incorporating a joint actuator-disturbance (load) actuator pair. The expected results have been obtained
Keywords :
digital simulation; manipulators; actual load torque; direct drive systems; hardware in the loop simulator; high performance control; load simulator; planar arm; robot manipulators; Actuators; Computational modeling; Computer simulation; Control systems; Hardware; Manipulator dynamics; Motion control; Service robots; Software testing; Torque;
Conference_Titel :
Industrial Electronics Society, 2001. IECON '01. The 27th Annual Conference of the IEEE
Conference_Location :
Denver, CO
Print_ISBN :
0-7803-7108-9
DOI :
10.1109/IECON.2001.976508
