Mobile Manipulator Robot Control Through Virtual Hardware in the Loop

Jorque, Byron S.; Mollocana, Jéssica D.; Ortiz, Jessica S.; Andaluz, Víctor H.

doi:10.1007/978-3-030-72657-7_8

Cited by 3 publications

(1 citation statement)

References 17 publications

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“…. h d is the vector of desired velocities; h represents the control error defined by; h=h d −h; W, is a positive definite gain matrix [28]; the function tan h(.) is an analytical saturation limiting control error h, with values de α > 0.…”

Section: Kinematic Controlmentioning

confidence: 99%

Virtual Training System for the Teaching-Learning Process in the Area of Industrial Robotics

et al. 2023

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This paper focuses on the development of a virtual training system by applying simulation techniques such as: Full Simulation and Hardware-in-the-Loop (HIL). This virtual reality system is intended to be a teaching and learning tool focused on the area of industrial robotics. For this purpose, mathematical models (kinematic and dynamic) have been considered. These models determine the characteristics and restrictions of the movements of a Scara SR-800 robot. The robot is then virtualized to simulate position and trajectory tasks within virtual environments. The Unity 3D graphic engine (Unity Software Inc., San Francisco, CA, USA), allows the design and development of the training system which is composed of a laboratory environment and an industrial environment. The same that contribute to the visualization and evaluation of the movements of the robot through the proposed control algorithm using the mathematical software (MatLab, manufactured by MathWorks, USA), through shared memories. This software in turn can be linked to an electronic board (Raspberry Pi) for data acquisition through a wireless connection. Finally, the stability and robustness of the implemented controllers are analyzed, as well as the correct operation of the virtual training system.

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Section: Kinematic Controlmentioning

confidence: 99%