Simulation and command of adam robot arm subjected to 3D external force

The aim of this article is the simulation and the control of three degree of freedom robotic arms using brushless DC motors. The two arms are used to maintain the stability of the robot in presence of external disturbances. We used an analytical approach based on the inverse dynamic model to determine the necessary configurations of the arms to stabilize the robot. The control of robotic arm is achieved by IPOS 4808 intelligent servo drives based on the latest DSP technology. We use the (TML) language and C++ to send motions. In this paper we show how to make the links between the PC and the drives also between the drives and the brushless motors. Before starting to send motion commands from the PC, the drive/motor setup using EasySetup was performed. In this paper we use the CAN bus to implement a network between the three IPOS.