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 1
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

Fingerprint

Simulators
Robots
Hardware
Computer hardware
Manipulators
Trajectories
Computer simulation

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

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; 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 proceedingConference 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). https://doi.org/10.23919/SICEISCS.2019.8758736
Noda, Yusuke ; Kimura, Tetsuya ; Abiko, Satoko ; Tsujita, Teppei ; Sato, Daisuke ; Nenchev, Dragomir N. / 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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