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

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

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1772-1779
ページ数8
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
国/地域United States
CityBoston
Period20/7/620/7/9

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • ソフトウェア

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