Design and Development of Robotic Hardware-in-the-Loop Simulation

Author

Martin, Adrian ; Scott, Eric ; Emami, M. Reza

Author_Institution

Inst. for Aerosp. Studies, Toronto Univ., Ont.

fYear

2006

fDate

5-8 Dec. 2006

Firstpage

1

Lastpage

6

Abstract

This paper details the design and development of a robotic hardware-in-the-loop simulation platform that can be used for rapid-prototyping industrial manipulators. The architecture of the proposed platform has been presented by Martin and Emami (2006). Potential benefits of such a platform include allowing concurrent development of hardware and control system components and providing a reusable platform for reconfigurable manipulators through a generic and modular structure. Some preliminary tests on the platform have also been discussed in the paper

Keywords

concurrent engineering; control system analysis; control system synthesis; industrial robots; manipulators; concurrent development; concurrent engineering; control system; industrial manipulators; modular structure; rapid prototyping; reconfigurable manipulators; robotic hardware-in-the-loop simulation; Computational modeling; Computer architecture; Computer simulation; Hardware; Manipulator dynamics; Orbital robotics; Prototypes; Robots; System testing; Virtual prototyping; Hardware-in-the-loop simulation; concurrent engineering; rapid prototyping; robot manipulator;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation, Robotics and Vision, 2006. ICARCV '06. 9th International Conference on

Conference_Location

Singapore

Print_ISBN

1-4244-0341-3

Electronic_ISBN

1-4214-042-1

Type

conf

DOI

10.1109/ICARCV.2006.345412

Filename

4150216