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Real-Time Hardware-in-the-Loop Simulation of a Hexaglide Type Parallel Manipulator on a Real Machine Controller

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New Trends in Mechanism and Machine Science

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 7))

Abstract

The deployment of a virtual implementation of a Hexaglide type parallel robot in the LinuxCNC machine controller running on RTAI RT Linux is presented and assessed. This HiL simulation is used to safely test different experiments and control algorithms before deploying them on the real system. State of the art algorithms to efficiently perform Real-Time system’s state integration are presented. The symbolic library LIB3D_MEC-GiNaC has been used to generate and adapted to automatically export the matrices required by the different algorithms. Three different parametrization strategies are implemented and compared. Performance improvement due to optimization by atomization are also reported. Excellent (under 10 − 5 s) Real-Time performance is achieved on standard off the shelf hardware.

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References

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Authors and Affiliations

  1. Public University of Navarre, Pamplona, Spain

    Javier Ros, Roberto Yoldi, Aitor Plaza & Xabier Iriarte

Authors
  1. Javier Ros
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  2. Roberto Yoldi
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  3. Aitor Plaza
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  4. Xabier Iriarte
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Corresponding author

Correspondence to Javier Ros .

Editor information

Editors and Affiliations

  1. , Structural and Mechanical Engineering, University of Cantabria, Avenida de los Castros, Santander, 39005, Spain

    Fernando Viadero

  2. , Laboratory of Robotics & Mechatronics, University of Cassino, Via di Biasio 43, Cassino, 03043, Italy

    Marco Ceccarelli

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© 2013 Springer Science+Business Media Dordrecht

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Ros, J., Yoldi, R., Plaza, A., Iriarte, X. (2013). Real-Time Hardware-in-the-Loop Simulation of a Hexaglide Type Parallel Manipulator on a Real Machine Controller. In: Viadero, F., Ceccarelli, M. (eds) New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, vol 7. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4902-3_62

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  • DOI: https://doi.org/10.1007/978-94-007-4902-3_62

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-4901-6

  • Online ISBN: 978-94-007-4902-3

  • eBook Packages: EngineeringEngineering (R0)

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