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

• Published in: 2008 IEEE International Symposium on Industrial Electronics pp. 1281 - 1286
• Main Authors: Hamelin, P., Bigras, P., Beaudry, J., Lemieux, S., Blain, M.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01-06-2008
• Subjects: Aerodynamics; Automatic control; contact tasks; direct-drive; Hardware; hardware-in-the-loop; Impedance; Manipulator dynamics; Orbital robotics; Prototypes; Robot control; Robots; simulation; Testing; Vehicle dynamics
• ISBN: 1424416655; 9781424416653
• ISSN: 2163-5137
• DOI: 10.1109/ISIE.2008.4677129

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.