Hardware-In-the-Loop-Simulation of a Planar Manipulator with an Elastic Joint

摘要

This paper presents a Hardware-In-the-LoopSimulation (HILS) for a planar robot with an elastic joint. The HILS consists of a hardware part, which is an elastic joint in this research, and numerical simulation, which calculates the forward dynamics of the whole robot system. We do not need to model complex hardware systems in the numerical model by combining the real hardware and mathematical model. However, we can still design and analyze the motion of the robot system, including the effect of the intricate hardware part, before developing the real whole robot system. This paper evaluates the validity of the proposed method by comparing it with the motion of a real planar manipulator system.