Dynamic Load Emulation in Hardware-in-the-Loop Simulation of Robot Manipulators

Abstract

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… (More)
DOI: 10.1109/TIE.2010.2072890

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