Dynamic load emulation for robotic hardware-in-the-loop simulation platforms

摘要

There is a growing interest in using hardware-in-the-loop simulations for test, design, and development of robot manipulators. A major challenge, however, is how to emulate the nonlinear and coupled dynamic loads on the joint hardware modules in real time. This paper details such a load emulation mechanism, and discusses its application to an industrial robot manipulator.