Title :
Dynamic Load Emulation in Hardware-in-the-Loop Simulation of Robot Manipulators
Author :
Martin, Adrian ; Emami, M. Reza
Author_Institution :
Aerosp. Studies, Univ. of Toronto, Toronto, ON, Canada
fDate :
7/1/2011 12:00:00 AM
Abstract :
A robotic hardware-in-the-loop simulation platform was designed to aid in the synthesis and analysis of robot manipulators and their controllers. The platform uses a load emulation mechanism to apply nonlinear and coupled dynamic loads to the joint hardware. Some experimental results from a 5-DOF industrial manipulator are provided, demonstrating how the platform can simulate the performance of a manipulator under normal and aggressive operating conditions.
Keywords :
control engineering computing; industrial manipulators; manipulator dynamics; 5-DOF industrial manipulator; coupled dynamic loads; dynamic load emulation mechanism; nonlinear dynamic loads; robot manipulators; robotic hardware-in-the-loop simulation platform; Computational modeling; Hardware; Joints; Load modeling; Manipulator dynamics; Torque; Hardware-in-the-loop; load emulation; real-time simulation; robot manipulator;
Journal_Title :
Industrial Electronics, IEEE Transactions on
DOI :
10.1109/TIE.2010.2072890
