TY - GEN
T1 - Hardware-in-the-loop-simulation of a planar manipulator with an elastic joint
AU - Abiko, Satoko
AU - Kimura, Tetsuya
AU - Noda, Yusuke
AU - Tsujita, Teppei
AU - Sato, Daisuke
AU - Nenchev, Dragomir N.
N1 - Funding Information:
This work was supported by KEIRIN 2017M-141.
Publisher Copyright:
© 2020 IEEE.
PY - 2020/7
Y1 - 2020/7
N2 - This paper presents a Hardware-In-the-LoopSimulation (HILS) for a planar robot with an elastic joint. The HILS consists of a hardware part, which is an elastic joint in this research, and numerical simulation, which calculates the forward dynamics of the whole robot system. We do not need to model complex hardware systems in the numerical model by combining the real hardware and mathematical model. However, we can still design and analyze the motion of the robot system, including the effect of the intricate hardware part, before developing the real whole robot system. This paper evaluates the validity of the proposed method by comparing it with the motion of a real planar manipulator system.
AB - This paper presents a Hardware-In-the-LoopSimulation (HILS) for a planar robot with an elastic joint. The HILS consists of a hardware part, which is an elastic joint in this research, and numerical simulation, which calculates the forward dynamics of the whole robot system. We do not need to model complex hardware systems in the numerical model by combining the real hardware and mathematical model. However, we can still design and analyze the motion of the robot system, including the effect of the intricate hardware part, before developing the real whole robot system. This paper evaluates the validity of the proposed method by comparing it with the motion of a real planar manipulator system.
KW - Elastic Joint
KW - Hardware-In-the-Loop-Simulator (HILS)
KW - Robot Design
UR - http://www.scopus.com/inward/record.url?scp=85090383205&partnerID=8YFLogxK
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U2 - 10.1109/AIM43001.2020.9158853
DO - 10.1109/AIM43001.2020.9158853
M3 - Conference contribution
AN - SCOPUS:85090383205
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 988
EP - 993
BT - 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
Y2 - 6 July 2020 through 9 July 2020
ER -