A nonlinear load simulator for robot manipulators

H. Temeltas; M. Gokasan; O. S. Bogosyan

doi:10.1109/IECON.2001.976508

A nonlinear load simulator for robot manipulators

H. Temeltas, M. Gokasan, O. S. Bogosyan

Department of Control and Automation Engineering

Research output: Contribution to conference › Paper › peer-review

25 Citations (Scopus)

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.

Original language	English
Pages	357-362
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2001.976508
Publication status	Published - 2001
Event	27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001 - Denver, CO, United States Duration: 29 Nov 2001 → 2 Dec 2001

Conference

Conference	27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001
Country/Territory	United States
City	Denver, CO
Period	29/11/01 → 2/12/01

Keywords

Actual load torque
Direct drive systems
Hardware in the loop simulator
Robot manipulators

Access to Document

10.1109/IECON.2001.976508

Cite this

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A nonlinear load simulator for robot manipulators

Abstract

Conference

Keywords

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