Development of a Hardware-in-the-Loop Simulator for Analyzing Motion of Multi-DoF Robots without Modeling Complex Joint Parts

Yusuke Noda, Tetsuya Kimura, Satoko Abiko, Teppei Tsujita, Daisuke Sato, Dragomir N. Nenchev

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In general, a multi-degree of freedom (DoF) robot comprises multi joints which are difficult to model precisely in numerical simulation. This paper proposes a Hardware-in-the-Loop Simulator (HILS) to analyze the motion of the multi-DoF robot without modeling complex joint parts by using multiple joint test devices. In this paper, we verify the proposed method by comparing the joint trajectory between a planar 2 DoF manipulator and the HILS.

Original languageEnglish
Title of host publicationProceedings of 2019 SICE International Symposium on Control Systems, SICE ISCS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages21-26
Number of pages6
ISBN (Electronic)9784907764623
DOIs
Publication statusPublished - 2019 Mar
Event2019 SICE International Symposium on Control Systems, SICE ISCS 2019 - Kumamoto, Japan
Duration: 2019 Mar 72019 Mar 9

Publication series

NameProceedings of 2019 SICE International Symposium on Control Systems, SICE ISCS 2019

Conference

Conference2019 SICE International Symposium on Control Systems, SICE ISCS 2019
CountryJapan
CityKumamoto
Period19/3/719/3/9

Keywords

  • Hardware-in-the-Loop-Simulator
  • Robot design method

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Control and Optimization

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    Noda, Y., Kimura, T., Abiko, S., Tsujita, T., Sato, D., & Nenchev, D. N. (2019). Development of a Hardware-in-the-Loop Simulator for Analyzing Motion of Multi-DoF Robots without Modeling Complex Joint Parts. In Proceedings of 2019 SICE International Symposium on Control Systems, SICE ISCS 2019 (pp. 21-26). [8758736] (Proceedings of 2019 SICE International Symposium on Control Systems, SICE ISCS 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/SICEISCS.2019.8758736