There is a growing interest in using hardware-in-theloop 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. © 2008 IEEE.
Upprättat; 2008; 20141215 (ninhul)