Development of a modular hardware-in-the-loop simulation platform for synthesis and analysis of robot manipulators.
Published: 2007
Language: eng
Number of pages: 91
ISBN-13: 9780494272633
Description: Hardware-in-the-loop simulation (HILS) is a technique that takes some physical components of a system and combines them with a computer simulation of all its remaining aspects. HILS combines many of the advantages of  physical and analytical prototyping and has been successfully applied in a wide range of engineering fields. This thesis proposes a generic and modular Robotic Hardware-in-the-Loop Simulation (RHILS) architecture for the design and testing of robot manipulators and their controllers. The underlying concept of the architecture was fully developed and then implemented for a standard industrial manipulator. This implementation was evaluated against the physical prototype of the robot to determine its capabilities as a simulation and design tool. The RHILS platform performed well and was able to simulate the manipulator under normal and aggressive operating conditions, and exhibited significant potential as a design tool for both the robot and its control unit.
Notes: Source: Masters Abstracts International, Volume: 45-06, page: 3280.

Thesis (M.A.Sc.)--University of Toronto, 2007.

Electronic version licensed for access by U. of T. users.

ROBARTS MICROTEXT copy on microfiche.