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.
N1 - Funding Information:
This work was supported by KEIRIN 2017M-141.
PY - 2019/3
Y1 - 2019/3
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
AN - SCOPUS:85069760154
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.
T2 - 2019 SICE International Symposium on Control Systems, SICE ISCS 2019
Y2 - 7 March 2019 through 9 March 2019
ER -