Hardware in the loop simulation of robot manipulators through Internet in mechatronics education

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

“…These approaches include: robot-in-the-loop simulations, such as the platform used for the task verification of the special-purpose dexterous manipulator at the Canadian Space Agency [8] or the use of both real and simulated mobile robots interacting with a virtual environment [9]; controller-in-the-loop simulations, where a real control system interacts with a computer model of the robot [10]; and joint-in-the-loop simulations, which use a computer model to compute the dynamic loads seen at Manuscript received April 9, 2007 A. Martin each joint and then emulate those loads on the real actuators [11].…”

Dynamic load emulation for robotic hardware-in-the-loop simulation platforms

“…It has been applied from a number of different perspectives, including robot-in-the-loop simulations, such as the platform used for the task verification of the specialpurpose dexterous manipulator at the Canadian Space Agency [6], the use of both real and simulated mobile robots interacting with a virtual environment [7], controller-in-the-loop simulations where a real control system interacts with a computer model of the robot [8], and joint-in-the-loop simulations that use a computer model to compute the dynamic loads seen at each joint and then emulate those loads on the real actuators [9]. Each of these approaches applies the HILS concept slightly differently, but all have produced positive results.…”

Hardware implementation of auto-mutual information function for condition monitoring

“…A system like this one is another contribution in introducing HIL to curricula which is a growing trend for over a decade now [15,16] and enabling dynamical learning in areas of embedded systems design, condition monitoring, signal processing and even web programming if everything is done through (web) servers. Since attractor reconstruction is not usually implemented on FPGA devices, choosing to implement the AMIF-based method on the device in question is both a novelty and a proof of concept.…”