Control system for testing advanced algorithms based on dynamic model of robot KUKA VK10/15
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F46747885%3A24220%2F09%3A%230001215" target="_blank" >RIV/46747885:24220/09:#0001215 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Control system for testing advanced algorithms based on dynamic model of robot KUKA VK10/15
Original language description
This paper describes the application of standard motion control unit Siemens SIMOTION D435 as a control system for common angular robot KUKA VK10/15 with six degrees of freedom. Advance algorithms like the controlling based on dynamic model of mechanismetc. requires direct access into the control structure. Standard systems of industrial robots don?t allow that. This was the reason why we decided to substitute not only the control section of existing control system with the motion control system SIMOTION, but also the power section with the components of servodrive SINAMICS S120. This system performs satisfactory requirements for alteration of control structure and thereby it allows to apply and to verify advanced controlling algorithms.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach
Others
Publication year
2009
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
9th International workshop on Electronics, Control, Modelling, Measurement and Signals
ISBN
978-84-608-0941-8
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
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Publisher name
MU. Mondragon Unibersitateko Zerbitzu Editoriala
Place of publication
Mondragon, Spain
Event location
Mondragon, Spain
Event date
Jan 1, 2009
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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