Virtual remote laboratories have already been successfully implemented in educational centers for practical learning of mechatronics and robotic systems. This article presents the development of a virtual articulated UR-type robot, designed as an educational tool that is suitable for programming and evaluating both the inverse kinematics control of the robot and the independent control of the robot joints. The 3D model of the virtual robot was developed in the Blender V2.79 software and uses the Modbus TCP industrial communication protocol for the communication to an external controller implemented in CoDeSys V3.5 software. The developed system allows the students to generate and test their own control algorithm for the robot joints with the visualization of the achieved performance in 3D and real time. Tailored control systems can be compared on the virtual robot. In this study, a novel technique for the joint position control based on an FSM is proposed and verified with the virtual UR5 robots to prove that the developed system is a suitable platform to teach and learn the inverse kinematics control and independent joint control of the UR5 robotic arm.

This study explores the direct current (DC) motor load torquecalculation using an effective discretization of the motor dynamicsand the proper choice of sample time.