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

doi:10.23919/SICEISCS.2019.8758736

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

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

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	https://doi.org/10.23919/SICEISCS.2019.8758736
Publication status	Published - 2019 Mar
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/Territory	Japan
City	Kumamoto
Period	19/3/7 → 19/3/9

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

Access to Document

10.23919/SICEISCS.2019.8758736

Cite this

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

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 et al.

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

Noda, Y, Kimura, T, Abiko, S, Tsujita, T, Sato, D & Nenchev, DN 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., 8758736, Proceedings of 2019 SICE International Symposium on Control Systems, SICE ISCS 2019, Institute of Electrical and Electronics Engineers Inc., pp. 21-26, 2019 SICE International Symposium on Control Systems, SICE ISCS 2019, Kumamoto, Japan, 19/3/7. https://doi.org/10.23919/SICEISCS.2019.8758736

Noda Y, Kimura T, Abiko S, Tsujita T, Sato D, Nenchev DN. 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. Institute of Electrical and Electronics Engineers Inc. 2019. p. 21-26. 8758736. (Proceedings of 2019 SICE International Symposium on Control Systems, SICE ISCS 2019). doi: 10.23919/SICEISCS.2019.8758736

Noda, Yusuke ; Kimura, Tetsuya ; Abiko, Satoko et al. / Development of a Hardware-in-the-Loop Simulator for Analyzing Motion of Multi-DoF Robots without Modeling Complex Joint Parts. Proceedings of 2019 SICE International Symposium on Control Systems, SICE ISCS 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 21-26 (Proceedings of 2019 SICE International Symposium on Control Systems, SICE ISCS 2019).

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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.",

keywords = "Hardware-in-the-Loop-Simulator, Robot design method",

author = "Yusuke Noda and Tetsuya Kimura and Satoko Abiko and Teppei Tsujita and Daisuke Sato and Nenchev, {Dragomir N.}",

note = "Funding Information: This work was supported by KEIRIN 2017M-141. Publisher Copyright: {\textcopyright} 2019 The Society of Instrument and Control Engineers - SICE.; 2019 SICE International Symposium on Control Systems, SICE ISCS 2019 ; Conference date: 07-03-2019 Through 09-03-2019",

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

Abstract

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Keywords

ASJC Scopus subject areas

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