The paper presents the position and load reference generation for a motor stand simulating a mechatronic chain, in this case a three degree of freedom robot leg. The task is accomplished using three PLC controlled motors in position as the robot joint actuators coupled with three controlled in torque, simulating the load at each simulation time-step. The paper briefly discusses the mathematical model and presents the visual interface used in the simulation, which is then to be further integrated into a virtual environment robot control application.
Journal of Fundamental and Applied Sciences
VIPRO platform, robot simulation, graphical user interface, reference generation
Smarandache, Florentin; V. Vladareanu; S.B. Cononovici; M. Migdalovici; H. Wang; and Y. Feng.
"APPLICATION FOR POSITION AND LOAD REFERENCE GENERATION OF A SIMULATED MECHATRONIC CHAIN."
Creative Commons License
This work is licensed under a Creative Commons Attribution 4.0 License.