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Concurrent synthesis of robot manipulators using hardware-in-the-loop simulation
Institute for Aerospace Studies, University of Toronto.
Institute for Aerospace Studies, University of Toronto.ORCID iD: 0000-0003-4977-6339
2009 (English)In: IEEE International Conference on Robotics and Automation, ICRA, Kobe, Japan, 12-17 May 2009, Piscataway, NJ: IEEE Communications Society, 2009, p. 568-573, article id 5152416Conference paper, Published paper (Refereed)
Abstract [en]

This paper discusses a practical approach to the concurrent synthesis of robot manipulators, which is based on the alternative design methodology of Linguistic Mechatronics (LM) as well as the utilization of a modular Robotic Hardwarein- the-loop Simulation (RHILS) platform. The RHILS platform involves physical joint modules and the control unit to reduce modeling complexities while taking into account various physical phenomena. The LM methodology simplifies the multi-objective constrained optimization problem into a singleobjective unconstrained formulation and also brings subjective notions of design into the scope. The new approach is applied to redesigning kinematic, dynamic and control parameters of an industrial manipulator. © 2009 IEEE.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Communications Society, 2009. p. 568-573, article id 5152416
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Onboard space systems
Identifiers
URN: urn:nbn:se:ltu:diva-36922DOI: 10.1109/ROBOT.2009.5152416Scopus ID: 70350359821Local ID: abf1a64f-306b-4873-8ad4-6c4f85a0e816ISBN: 9781424427895 (print)OAI: oai:DiVA.org:ltu-36922DiVA, id: diva2:1010421
Conference
IEEE International Conference on Robotics and Automation : 12/05/2009 - 17/05/2009
Note
Upprättat; 2009; 20150108 (ninhul)Available from: 2016-10-03 Created: 2016-10-03 Last updated: 2017-12-15Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
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  • Other locale
More languages
Output format
  • html
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  • asciidoc
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