This article presents the hardware-in-the-loop simulation of an impedance control applied to a virtual robot acting on a stiff environment. A test bench, which is composed of a direct-drive manipulator and a stiff environment, is used as the hardware part. A hardware-in-the-loop controller is used to command the manipulator so that it reproduces the virtual robot dynamics. Hence, the latter virtually acts on the real environment. Experimental results of the hardware-in-the-loop simulation are compared to pure simulation. It shows that both results are very similar and therefore the real robot can accurately reproduce the virtual robot dynamics.


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    Titel :

    Hardware-in-the-loop simulation of an impedance controlled robot using a direct-drive test bench


    Beteiligte:
    Hamelin, Philippe (Autor:in) / Bigras, Pascal (Autor:in) / Beaudry, Julien (Autor:in) / Lemieux, Sylvain (Autor:in) / Blain, Michel (Autor:in)


    Erscheinungsdatum :

    2008-06-01


    Format / Umfang :

    466325 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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