An architecture for robotic hardware-in-the-loop simulation

• Hardware-in-the-loop simulation is an increasingly popular engineering tool for its effectiveness in maintaining a balance between the two competing demands of: a) well designed and thoroughly tested systems, and b) reduced development time and costs to remain competitive. This paper proposes an architecture for applying hardware-in-the-loop simulation techniques to the design and testing of robot manipulators. Potential benefits of this architecture include allowing concurrent development of hardware and control system components and providing a reusable platform for reconfigurable manipulators through a generic and modular structure. An implementation of this architecture in the preliminary phases of development is presented here to demonstrate how these benefits can be realized. © 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

Concurrent engineering

Hardware-in-the-loop simulation

Robot manipulator

System design and testing

Onboard space systems

Rymdtekniska system

Publikations- och innehållstyp

ref (ämneskategori)

kon (ämneskategori)