HILS using a minimum number of joint module testbeds for analyzing a multi-DoF manipulator

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

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

1 Citation (Scopus)

Abstract

In general, a multi-degree of freedom (DoF) robot has many joints that are difficult to model precisely in numerical simulation. Although a Hardware-in-the-Loop Simulator (HILS) is one of the solutions for simulating of such robots, a standard HILS requires to have as many joint testbeds as the robot has joints. In order to reduce the number of testbeds, this paper proposes a HILS to analyze the motion of the multi-DoF robot without modeling complex joint parts by using a minimum number of joint testbeds. This paper discusses two HILS algorithms, a TIM (Time Increment Method) and a JSM (Joint Switch Method) and the two algorithms are compared based on numerical simulation of a two DoF manipulator. the JSM can conduct HILS faster than the TIM. The accuracy of the simulated motion depends on the motion to be analyzed. Also, in order to verify the proposed algorithm, an experiment with a real testbed was conducted. The max difference of the end effector was around 0.02 m compared with a real manipulator and it was shown that the JSM successfully conducted simulation using only one testbed.

Original languageEnglish
Title of host publication2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1772-1779
Number of pages8
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
CountryUnited States
CityBoston
Period20/7/620/7/9

ASJC Scopus subject areas

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

Fingerprint Dive into the research topics of 'HILS using a minimum number of joint module testbeds for analyzing a multi-DoF manipulator'. Together they form a unique fingerprint.

Cite this