HIL SIMULATION AND SOFTWARE CONTROL OF ROBOTIC ARM

摘要

In this paper the mathematical model for five degrees of mobility robot using cinematic direct and inverted method is determined and hardware-in-the-loop (HIL) simulation is designed. Based on mathematical model and simulation results a software controller is written and tested. The robot is controlled by software implemented on a PC, which is connected to the robot by an electronic interface. Mathematical model and the software allow generating the trajectories of robot elements very precisely and easily implementing advanced algorithms. At the end there are presented two applications to control an educational robot based on direct and inverted models.