Control of a mechanical simulator for testing electrical drives for robotics and industrial automation

Author

Bassi, Ezio ; Benzi, Francesco

Author_Institution

Dipartimento di Ingegneria Elettrica, Pavia Univ., Italy

fYear

1994

fDate

2-6 Oct 1994

Firstpage

1787

Abstract

The paper discusses the experiments conducted on a mechanical simulator for testing electrical actuators for robotics and industrial automation. The simulator design has been realized in order to offer a significant benchmark for evaluating and comparing actuators of different construction types and principles of operation. After a summary on the main features of the simulator with the description of the tests carried out on different drives, a methodology for the identification of the link-electrical actuator system is presented, whose results can be used for the automatic tuning of the speed and position loop controllers

Keywords

industrial robots; machine testing; motor drives; robots; simulation; automatic tuning; electrical drives testing; industrial automation; link-electrical actuator system; mechanical simulator control; position loop controller; robotics; speed loop controller; Actuators; Automatic control; Automatic testing; Drives; Industrial control; Performance evaluation; Reluctance motors; Robotics and automation; Service robots; System testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Industry Applications Society Annual Meeting, 1994., Conference Record of the 1994 IEEE

Conference_Location

Denver, CO

Print_ISBN

0-7803-1993-1

Type

conf

DOI

10.1109/IAS.1994.377671

Filename

377671