A holistic concurrent design approach to robotics using hardware-in-the-loop simulation

• This paper discusses a practical approach to the concurrent design of robot manipulators, which is based on an alternative design methodology, namely Holistic Concurrent Design (HCD), as well as the utilization of a modular hardware-in-the-loop simulation. Holistic concurrent design is a systematic design methodology for mechatronic systems that formalizes subjective notions of design, resulting in the simplification of the multi-objective constrained optimization process. Its premise is to enhance the communication between designers with various backgrounds and customers, and to consider numerous design variables with different natures concurrently. The methodology redefines the ultimate goal of design based on the qualitative notion of satisfaction, and formalizes the effect of designer's subjective attitude in the process. The hardware-in-the-loop platform involves physical joint modules and the control unit of a manipulator in addition to the software simulation to reduce modeling complexities and to take into account physical phenomena that are hard to be captured mathematically. This platform is implemented in the HCD design architecture to reliably evaluate the design attributes and performance supercriterion during the design process. The resulting architecture is applied to redesigning kinematic, dynamic and control parameters of an industrial manipulator. Copyright © 2013 Published by Elsevier Ltd. All rights reserved.

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

Concurrent design

Hardware-in-the-loop simulation

Mechatronics

Multidisciplinary systems

Robot manipulator

Onboard space systems

Rymdtekniska system

Publikations- och innehållstyp

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