Design and Development of Robotic Hardware-in-the-Loop Simulation

This paper details the design and development of a robotic hardware-in-the-loop simulation platform that can be used for rapid-prototyping industrial manipulators. The architecture of the proposed platform has been presented by Martin and Emami (2006). Potential benefits of such a platform include allowing concurrent development of hardware and control system components and providing a reusable platform for reconfigurable manipulators through a generic and modular structure. Some preliminary tests on the platform have also been discussed in the paper

[1]  Matti Linjama,et al.  Hardware-in-the-loop environment for servo system controller design, tuning and testing , 2000, Microprocess. Microsystems.

[2]  Robert E. Betz,et al.  Emulating dynamic load characteristics using a dynamic dynamometer , 1995, Proceedings of 1995 International Conference on Power Electronics and Drive Systems. PEDS 95.

[3]  J. Leitner.  Space technology transition using hardware in the loop simulation , 1996, 1996 IEEE Aerospace Applications Conference. Proceedings.

[4]  Jon C. Clare,et al.  Dynamic emulation of mechanical loads using a vector-controlled induction motor-generator set , 1999, IEEE Trans. Ind. Electron..

[5]  William R. Hamel,et al.  Design and testing of a prototype transmission-based robot servoactuator , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[6]  J.K. Pedersen,et al.  A dynamometer performing dynamical emulation of loads with nonlinear friction , 1996, Proceedings of IEEE International Symposium on Industrial Electronics.

[7]  M. Bacic,et al.  On hardware-in-the-loop simulation , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[8]  Steven C. Wheelwright,et al.  Revolutionizing New Product Development: Quantum Leaps in Speed, Efficiency, and Quality (Революция в разработке продуктов: количественный скачок в скорости, эффективности и качестве) , 1992 .

[9]  G. Stoeppler,et al.  Hardware-in-the-loop simulation of machine tools and manufacturing systems , 2005 .

[10]  Xiaolin Hu.  Applying robot-in-the-loop-simulation to mobile robot systems , 2005, ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005..

[11]  Karl T. Ulrich,et al.  Product Design and Development , 1995 .

[12]  H. Hanselmann.  Hardware-in-the-loop simulation testing and its integration into a CACSD toolset , 1996, Proceedings of Joint Conference on Control Applications Intelligent Control and Computer Aided Control System Design.

[13]  C. K. Yuen,et al.  Theory and Application of Digital Signal Processing , 1978, IEEE Transactions on Systems, Man, and Cybernetics.

[14]  Xavier Cyril,et al.  ADVANCED SPACE ROBOTICS SIMULATION FOR TRAINING AND OPERATIONS , 2000 .

[15]  Farhad Aghili,et al.  Task verification facility for the Canadian special purpose dextrous manipulator , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[16]  Steven C. Wheelwright,et al.  Revolutionizing Product Development: Quantum Leaps in Speed, Efficiency and Quality , 1992 .

[17]  Arthur F. Krummenoehl,et al.  Simulation Approaches for Supporting Tactical System Development , 2002 .

[18]  R. P. Jones,et al.  An investigation into the use of hardware-in-the-loop simulation with a scaled physical prototype as an aid to design , 2001 .

[19]  M.R. Emami,et al.  An Architecture for Robotic Hardware-in-the-Loop Simulation , 2006, 2006 International Conference on Mechatronics and Automation.

[20]  Metin Gokasan,et al.  A nonlinear load simulator for robot manipulators , 2001, IECON'01. 27th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.37243).

[21]  Zhen Li,et al.  HARDWARE-IN-THE-LOOP SIMULATION , 2004 .

[22]  T. S. Sankar,et al.  Fast inverse dynamics computation in real-time robot control , 1992 .

[23]  H. Temeltas,et al.  Hardware in the loop simulation of robot manipulators through Internet in mechatronics education , 2002, IEEE 2002 28th Annual Conference of the Industrial Electronics Society. IECON 02.