Hardware-in-the-loop-simulation of a planar manipulator with an elastic joint

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

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

1 Citation (Scopus)

Abstract

This paper presents a Hardware-In-the-LoopSimulation (HILS) for a planar robot with an elastic joint. The HILS consists of a hardware part, which is an elastic joint in this research, and numerical simulation, which calculates the forward dynamics of the whole robot system. We do not need to model complex hardware systems in the numerical model by combining the real hardware and mathematical model. However, we can still design and analyze the motion of the robot system, including the effect of the intricate hardware part, before developing the real whole robot system. This paper evaluates the validity of the proposed method by comparing it with the motion of a real planar manipulator system.

Original languageEnglish
Title of host publication2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages988-993
Number of pages6
ISBN (Electronic)9781728167947
DOIs
Publication statusPublished - 2020 Jul
Event2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020 - Boston, United States
Duration: 2020 Jul 62020 Jul 9

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2020-July

Conference

Conference2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
Country/TerritoryUnited States
CityBoston
Period20/7/620/7/9

Keywords

  • Elastic Joint
  • Hardware-In-the-Loop-Simulator (HILS)
  • Robot Design

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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