Proposal of Drivable Rapid Prototyping System for Robot Mechanisms Verification

Yase, Hayato; Harada, Takashi

doi:10.1109/sii55687.2023.10039437

Cited by 2 publications

(1 citation statement)

References 15 publications

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“…Currently for the multi-degree-of-freedom robotic arm modeling and motion control research is mainly used in two forms: first, the robotic arm kinematics, dynamics model, and offline simulation are established based on MATLAB and then ported to the actual controller of the robotic arm for testing and validation. The algorithm is optimized based on the feedback test results [1] . Second, based on the hardware-in-the-loop testing, the robotic arm model runs in the real-time simulator, the control algorithm runs in the controller, and after the test is passed, the final controller carries out the whole set of control algorithm validation on the robotic arm [2] .…”

Section: Introductionmentioning

confidence: 99%

Digital twin and hardware-in-the-loop based robotic arm modelling simulation

Zhang,

Dong,

2024

J. Phys.: Conf. Ser.

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Aiming at a series of problems such as high testing cost, complex testing scenarios, and low testing efficiency in the testing of control algorithms for robotic arms, this paper proposes a method using semi-physical simulation technology combined with digital twin technology to solve this problem. Based on the V-model development process, the robotic arm control algorithm is designed, and the control effect is verified on the twin model. The extreme working condition test of the robotic arm controller is performed on the virtual test bench to achieve continuous algorithm optimization, verification, and iteration.

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Section: Introductionmentioning

confidence: 99%