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1 Abstract—The paper deals with design of a Hardware-in- the-Loop simulator of an industrial robot with six degrees of freedom. The robot is driven by industrial frequency converters of the SINAMICS S120 type. They communicate via CAN bus with the master control system RT-LAB executing control algorithms in real time. Such a complex task combines information from mechanics, electric drives, control theory, robotics, programming, and a deep knowledge of a frequency converter control structure. Proposed algorithms are verified experimentally and the resulting time responses show good agreement with expected results. failure in the space, each algorithm is verified by a HIL simulator under all operating conditions. The paper (5) deals with control of a parallel structure of robotic legs with 6 DOF. The walking robot is controlled from a real time system RT-LAB and QNX software is programmed in MATLAB/Simulink. Various robust and adaptive control strategies dealing with non-linearities and uncertain behaviour of robotic manipulators were reported in (6), (7). The ref. (8) reported optimization strategies for industrial robots with the goal to improve their overall performance and their accuracy in the robot with open control structure. Our paper takes advantages of HIL simulation and utilise standard features of industrial drives - a direct access into control circuit. For our work we have used feed-forward control of the robot drives with compensation of the torque calculated by inverse dynamics network. In order to concentrate on description of the real-time control system of the HIL, we have omitted derivation of direct and inverse kinematic models as it is a standard task in robotics. After a short introduction of the robot system we describe used HW and SW parts, communication within the control system, control circuits of the drives, mention generating of desired trajectory and its solution within the system and finally we present brief experimental results.

HIL Simulator of Drives of an Industrial Robot with 6 DOF