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

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
出版社Institute of Electrical and Electronics Engineers Inc.
ページ988-993
ページ数6
ISBN(電子版)9781728167947
DOI
出版ステータスPublished - 2020 7
イベント2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020 - Boston, United States
継続期間: 2020 7 62020 7 9

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
2020-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

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