Abstract
We propose a “Hardware-In-the-Loop Simulation” (HILS) and “Rapid Control Prototyping” (RCP) based inter-working scheme for computational evaluation of manipulators and trajectory controller. The objective of the scheme is to minimize the development time in controller design and reduce the efforts in body modeling analysis, especially in the field of robotics. We have derived the analytical model of two manipulators for HILS and implemented an output controller for RCP; then two functional blocks are integrated to verify and validate the usefulness and possibility of HILS and RCP based inter-working (HRI) scheme. Experimental results show that the proposed HRI scheme is an effective means to apply for modeling the two elbow manipulators and implementing the selected controller for the manipulator applications in an early stage of the development cycle. Furthermore, HRI scheme has shown to be particularly beneficial for body dynamics analysis and manipulator control tasks.
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Yang, YM., Mahalik, N.P., Byun, SC., Yang, SM., Ahn, BH. (2005). An HILS and RCP Based Inter-working Scheme for Computational Evaluation of Manipulators and Trajectory Controller. In: Khosla, R., Howlett, R.J., Jain, L.C. (eds) Knowledge-Based Intelligent Information and Engineering Systems. KES 2005. Lecture Notes in Computer Science(), vol 3682. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11552451_27
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DOI: https://doi.org/10.1007/11552451_27
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-28895-4
Online ISBN: 978-3-540-31986-3
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