Branch Mathematics and Statistics Faculty and Staff Publications

Application for Position and Load Reference Generation of a Simulated Mechatronic Chain

Florentin Smarandache, University of New Mexico
Victor Vladareanu
Sergiu Boris Cononovici
Marcel Migdalovici
Hongbo Wang
Yongfei Feng


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.