A nonlinear load simulator for robot manipulators

Temeltas H., Gokasan M., Bogosyan O.

27th Annual Conference of the IEEE Industrial-Electronics-Society, Colorado, United States Of America, 29 November - 02 December 2001, pp.357-362 identifier

  • Publication Type: Conference Paper / Full Text
  • City: Colorado
  • Country: United States Of America
  • Page Numbers: pp.357-362
  • Istanbul Technical University Affiliated: No


This study is on the development of a flardware-In-the-Loop system for the high performance control of a 2-link direct drive planar arm. At this stage of the study, necessary hardware and software has been set-up and the actual torque components derived through Euler-Lagrange formulation have been simulated in real time on the test-bed, incorporating a joint actuator-disturbance (load) actuator pair. The expected results have been obtained.