Development of a Hardware-In-the-Loop-Simulator for Designing a Robot with Flexible Joints

摘要

This paper proposes a Hardware-In-the-Loop-Simulator (HILS) for designing a robot which has flexible joints. The simulator consists of a hardware part, which flexible joints in this research, and numerical simulation, which calculates forward dynamics of whole robot system. By combining real hardware and numerical model, we do not need to model complex hardware system in the numerical model, but still we can design and analyze whole motion of the robot system including the effect of the complex hardware part. In this paper, we develop a hardware system for the HILS and carry out fundamental experiment to analyze system performance.