A hardware in the loop simulation for electrically driven robot manipulator

摘要

The robot manipulators have crossed several areas of research especially in the industries. In fact, the development of robot systems generally require several iterations, which may be based on a simulation approach, by providing a physical prototype or a combination of them. On one hand, development using simulation should take into account not only the modeling of the robot, but also that of its actuators. Unfortunately, the model of the whole system may be inaccurate due its complexity. On the other hand, the realization of a prototype to the system overcomes the problems of insufficient knowledge and imprecision of the model but the prototyping time is very high. The hybrid solution that is the simulation with hardware in the loop can be replaced in the simulation part through Simulink Matlab environment. Only the sub-system whose model is not well known or imprecise is replaced by its prototype via FPGA board. This hybrid solution is characterized by the use of real parts in hardware inside the loop simulation to reduce both costs and development time and to not sacrifice from the inaccuracy which represent big challenges for robot systems. Simulation results are presented to show the effectiveness of design controllers for electrically driven robot manipulator.