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

研究成果: Conference contribution

2 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトルProceedings of 2019 SICE International Symposium on Control Systems, SICE ISCS 2019
出版者Institute of Electrical and Electronics Engineers Inc.
ページ21-26
ページ数6
ISBN(電子版)9784907764623
DOI
出版物ステータスPublished - 2019 3
イベント2019 SICE International Symposium on Control Systems, SICE ISCS 2019 - Kumamoto, Japan
継続期間: 2019 3 72019 3 9

出版物シリーズ

名前Proceedings of 2019 SICE International Symposium on Control Systems, SICE ISCS 2019

Conference

Conference2019 SICE International Symposium on Control Systems, SICE ISCS 2019
Japan
Kumamoto
期間19/3/719/3/9

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Control and Optimization

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  • これを引用

    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. : 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