REVITALISATION OF INDUSTRIAL ROBOT CONTROL SYSTEMS

Abstract eng:
The paper demonstrates the way of adapting control system of welding industrial robot produced by ASEA company. The aim was to adapt it to parameters of welding process using a new generation of welding machines. Control system based on card with FPGA processor made by National Instruments company was built instead of old system based on integrated circuit with a low integration scale and using signals from rate generators and transformators of angular position. Moreover, encoders were installed as positional and rotational speed sensors. For controlled system identification, there was used a model created in SimMechanics tool which is included in MATLAB environment. Data concerning location of centre of gravity, masses and moments of inertia for blocks of SimMechanics tool were obtained from independently made three-dimensional model of manipulation working parts of robot in Catia system. There were also used data on drivers features based on information from their rating plates.

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