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

4 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of 2019 SICE International Symposium on Control Systems, SICE ISCS 2019
出版社Institute of Electrical and Electronics Engineers Inc.
ページ21-26
ページ数6
ISBN(電子版)9784907764623
DOI
出版ステータスPublished - 2019 3月
イベント2019 SICE International Symposium on Control Systems, SICE ISCS 2019 - Kumamoto, Japan
継続期間: 2019 3月 72019 3月 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
国/地域Japan
CityKumamoto
Period19/3/719/3/9

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学
  • 機械工学
  • 制御と最適化

フィンガープリント

「Development of a Hardware-in-the-Loop Simulator for Analyzing Motion of Multi-DoF Robots without Modeling Complex Joint Parts」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル