TY - GEN
T1 - HILS using a minimum number of joint module testbeds for analyzing a multi-DoF manipulator
AU - Noda, Yusuke
AU - Tsujita, Teppei
AU - Abiko, Satoko
AU - Sato, Daisuke
AU - Nenchev, Dragomir N.
N1 - Funding Information:
*This work was supported by KEIRIN 2017M-141 and JSPS Grant-in-Aid for Scientific Research (B) 19H02119.
Publisher Copyright:
© 2020 IEEE.
PY - 2020/7
Y1 - 2020/7
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85090395436&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85090395436&partnerID=8YFLogxK
U2 - 10.1109/AIM43001.2020.9158843
DO - 10.1109/AIM43001.2020.9158843
M3 - Conference contribution
AN - SCOPUS:85090395436
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1772
EP - 1779
BT - 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
Y2 - 6 July 2020 through 9 July 2020
ER -