Dynamic load emulation in hardware-in-the-loop simulation of robot manipulators

• A robotic hardware-in-the-loop simulation platform was designed to aid in the synthesis and analysis of robot manipulators and their controllers. The platform uses a load emulation mechanism to apply nonlinear and coupled dynamic loads to the joint hardware. Some experimental results from a 5-DOF industrial manipulator are provided, demonstrating how the platform can simulate the performance of a manipulator under normal and aggressive operating conditions. © 2006 IEEE.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Annan elektroteknik och elektronik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Other Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)

Nyckelord

Hardware-in-the-loop

load emulation

real-time simulation

robot manipulator

Onboard space systems

Rymdtekniska system

Publikations- och innehållstyp

ref (ämneskategori)

art (ämneskategori)