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 language | English |
|---|---|
| Title of host publication | Proceedings of 2019 SICE International Symposium on Control Systems, SICE ISCS 2019 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 21-26 |
| Number of pages | 6 |
| ISBN (Electronic) | 9784907764623 |
| DOIs | |
| Publication status | Published - 2019 Mar 1 |
| Event | 2019 SICE International Symposium on Control Systems, SICE ISCS 2019 - Kumamoto, Japan Duration: 2019 Mar 7 → 2019 Mar 9 |
Publication series
| Name | Proceedings of 2019 SICE International Symposium on Control Systems, SICE ISCS 2019 |
|---|
Conference
| Conference | 2019 SICE International Symposium on Control Systems, SICE ISCS 2019 |
|---|---|
| Country | Japan |
| City | Kumamoto |
| Period | 19/3/7 → 19/3/9 |
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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
Cite this
Development of a Hardware-in-the-Loop Simulator for Analyzing Motion of Multi-DoF Robots without Modeling Complex Joint Parts. / Noda, Yusuke; Kimura, Tetsuya; Abiko, Satoko; Tsujita, Teppei; Sato, Daisuke; Nenchev, Dragomir N.
Proceedings of 2019 SICE International Symposium on Control Systems, SICE ISCS 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 21-26 8758736 (Proceedings of 2019 SICE International Symposium on Control Systems, SICE ISCS 2019).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Development of a Hardware-in-the-Loop Simulator for Analyzing Motion of Multi-DoF Robots without Modeling Complex Joint Parts
AU - Noda, Yusuke
AU - Kimura, Tetsuya
AU - Abiko, Satoko
AU - Tsujita, Teppei
AU - Sato, Daisuke
AU - Nenchev, Dragomir N.
PY - 2019/3/1
Y1 - 2019/3/1
N2 - 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.
AB - 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.
KW - Hardware-in-the-Loop-Simulator
KW - Robot design method
UR - http://www.scopus.com/inward/record.url?scp=85069760154&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85069760154&partnerID=8YFLogxK
U2 - 10.23919/SICEISCS.2019.8758736
DO - 10.23919/SICEISCS.2019.8758736
M3 - Conference contribution
T3 - Proceedings of 2019 SICE International Symposium on Control Systems, SICE ISCS 2019
SP - 21
EP - 26
BT - Proceedings of 2019 SICE International Symposium on Control Systems, SICE ISCS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
ER -