Analysis of robotic hardware-in-the-loop simulation architecture

Abstract

An architecture for Robotic Hardware-in-theLoop Simulation (RHILS) has been proposed as a design and simulation tool for serial-link robot manipulators [1]. This paper evaluates the RHILS platform's capabilities when applied to the simulation of the 5-d.o.f. CRS CataLyst-5 industrial manipulator from Thermo Fisher Scientific Inc. The results demonstrate that the RHILS platform is able to accurately simulate the robot even under extreme operating conditions, and the platform shows significant potential as a design tool for both the robot and its control unit.

Design of a Robot-in-the-Loop Simulation Based on OPRoS

“…작을 검증하기 위한 시뮬레이션 기법 [2]이며 현재까지 차량 [3][4][5], 철도 [6], 항공 [7], 제어 [8][9][10], 산업용 머니퓰레이터 [11], 소형무인기 군집비행 알고리즘 [16] 등의 시험에서 성공적으 로 적용되어 왔다. 기존 HILS에 대한 연구 [3][4][5][6][7][8][9][10][11]16] RILS는 기본적으로 HILS의 장점을 수용하지만 좀더 복잡 하고 큰 규모의 로봇 시스템의 검증에 유용하다 [12].…”

“…기존 HILS에 대한 연구 [3][4][5][6][7][8][9][10][11]16] RILS는 기본적으로 HILS의 장점을 수용하지만 좀더 복잡 하고 큰 규모의 로봇 시스템의 검증에 유용하다 [12]. 그림 3.…”

An Outline Of Edesign

“…Deploying simulation components across the internet allows distributed users to access powerful software applications collectively, and extends the capabilities of a traditional computer laboratory to a completely virtual deployment. Furthermore, given the many uncertain factors in the physical systems, such as sensor noise, actuator imperfectness, structural flexibility and damping, etc., a more realistic knowledge of the system being designed is obtained if the simulation incorporates direct links to the hardware components, forming a hardware-in-the-loop simulation (HILS) platform 19,20 . Therefore, an effective eDesign architecture should not only provide distributed students with software simulations but also enable them to experiment with a HILS platform remotely.…”