In the last decades, the classical verification of robotic software component is postponed until the code is developed enough to function in real hardware. For this reason, the verification of code at early stages is essential to reduce development costs and necessary time for embedded systems such as robot manipulator. Therefore, Software In the Loop (SIL) simulation may be realized in the early stages of software development. It offers the possibility to execute tests before the hardware is available and thus detect errors. In this paper, we propose a Software In the Loop (SIL) test for robot manipulator driven by a Brushless DC Motor without a target system hardware. Simulation results prove the rapidity and the good performance of the developed code for the controller’s part by the validation of the behavior of robot manipulator software.

This paper is dealing with the problem of tracking control for uncertain flexible joint manipulator robots driven by brushless direct current motor (BDCM). Flexibility of joint in the manipulator constitutes one of the most important sources of uncertainties. In order to achieve high performance, all parts of the manipulator including actuator have been modeled. To cancel the tracking error, a hysteresis current controller and speed controllers have been developed. To evaluate the effectiveness of speed controllers, a comparative study between proportional integral (PI) and sliding mode controllers has been performed. Finally, simulation results carried out in the Matlab simulink environment demonstrate the high precision of sliding mode controller compared with PI controller in the presence of uncertainties of joint flexibility.

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Robot manipulators are widely used in industries. The raised complexity of robot manipulators dynamics consider ing actuator part makes control strategies hard to be designed and verified. In fact, the design and the verification of the control strategies have achieved a special attention via MatIab Simulink environment tool. However, the high time simulation is an essential drawback of this tool due to the robotic system complexity. This paper proposes a Hardware Software In the Loop (HSIL) technique via FPGA board for the two degrees robot control driven by Brushless DC Motor (BDCM). This latter has shown its rapidity, high performances and low cost which represent a big challenge for power electronics systems especially in the robotic field.

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