Engineering Mechanics

Proceedings Vol. 20 (2014)

ENGINEERING MECHANICS 2014

Copyright © 2014 Brno University of Technology Institute of Solid Mechanics, Mechatronics and Biomechanics

 

Nowicki K., Kolber P., Perczyński D., Wawrzyniak S.
pages 471 - 474, full text

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.

Text and facts may be copied and used freely, but credit should be given to these Proceedings.

All papers were reviewed by members of the scientific committee.