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Industrial robot manipulators have reached a stage where their mechanical characteristics are well optimized. However, industrial hardware and software control architectures are rarely open for sensor integration. In order to overcome these constraints, custom-designed hardware interfaces and software algorithms need to be designed. The paper summarizes the implementation of yControl -an open architecture controller for industrial robot Yaskawa Motoman MH5. Custom hardware and software solutions are presented. Details are provided for the Matlab/Simulink based Robotica library. An example application showing a bimanual and bilateral teleoperation system is analyzed.Index Terms-Open architecture robot control, industrial and research robots, education and research, robot low-level control interfaces, software tools and code generation, robot control and haptic library, Matlab xPC Target

This paper presents a driving simulator of ENVIRONMENT a combat vehicle aimed for driver-vehicle interaction study and design of full scale driving simulator. The simulator consists of a real-time combat vehicle dynamics bat vehicle driving simulation is presented in Fig. 1. simulation module, a graphical presentation module, a The simulation environment incorporates four main robotic seat motion system, and a force feedback steering modules. In simulated driving, the driver maneuvers system. The simulation module simulates dynamic motion the vehicle in computer model via active steering and interaction with environment of a combat vehicle in wheel. Vehicle motion dynamics and interaction with real-time. The graphical presentation module generates driving scenes that are displayed on a screen by a back environment is calculated on-line in real-time. Based projection. The robotic system generates seat motion cues on calculated values the computer graphics presents by the help of a three degree-of-freedom hydraulically the vehicle in 3D environment what provides visual driven mechanism. The force feedback steering system is feedback, while the two robot systems provide senan interface between the driver and the simulator. In the paper the configuration of the driving simulator and the sational (hapic)dfeedback trthendriver.the haptic results of experimental evaluation are presented.feedback to the driver is presented by the hydraulic robotic seat that provides vertical driver seat motion I. INTRODUCTION and the steering wheel system that generates the wheel aligning torque on the steering wheel. Each particular Driving simulators are being used effectively for simulation environment module is described in details vehicle system development and human factor study in the following chapters. by reproducing actual driving conditions in a safe and controlled environment. The driving simulator is a tool P PROJECTION SCREEN/ that gives a driver impression of maneuvering an actual vehicle by predicting vehicle motion caused by his input and feeding back corresponding visual, motion, audio and proprioceptive cues. Driving simulators originate from the aircraft industry, however, automotive industry currently deeply relies on their exploitation. ROBOT SEAT Most sophisticated are the driving simulators from Daimler, Ford, Honda, Renault and Toyota automotive companies. Simulators are being used for training in normal and critical driving conditions, analysis of the driver responses, and evaluation of user performances in different conditions [1]. Important role have the driving simulators in military applications since they create CONTEER CONTROLLER a virtual proving ground for engineering evaluation of combat vehicles and driver performances. 2 s e a : t X This paper presents a prototype driving simulator for 0.h-lv six-wheel combat vehicle. The driving simulator was VEHICLEEITI DNI developed in the frameo rk of feasibility study that lSIMLTO investigated the possibilities of subsystems integration. In the first part of th...