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Dynamic load emulation in hardware-in-the-loop simulation of robot manipulators
Institute for Aerospace Studies, University of Toronto.
Space Mechatronics Group, Institute for Aerospace Studies, University of Toronto.ORCID iD: 0000-0003-4977-6339
2011 (English)In: IEEE transactions on industrial electronics (1982. Print), ISSN 0278-0046, E-ISSN 1557-9948, Vol. 58, no 7, p. 2980-2987, article id 5560807Article in journal (Refereed) Published
Abstract [en]

A robotic hardware-in-the-loop simulation platform was designed to aid in the synthesis and analysis of robot manipulators and their controllers. The platform uses a load emulation mechanism to apply nonlinear and coupled dynamic loads to the joint hardware. Some experimental results from a 5-DOF industrial manipulator are provided, demonstrating how the platform can simulate the performance of a manipulator under normal and aggressive operating conditions. © 2006 IEEE.

Place, publisher, year, edition, pages
2011. Vol. 58, no 7, p. 2980-2987, article id 5560807
Keywords [en]
Hardware-in-the-loop, load emulation, real-time simulation, robot manipulator
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Onboard space systems
Identifiers
URN: urn:nbn:se:ltu:diva-10652DOI: 10.1109/TIE.2010.2072890Scopus ID: 2-s2.0-79959296826Local ID: 97bb61e3-be6c-4314-8c3e-a4a14232dc86OAI: oai:DiVA.org:ltu-10652DiVA, id: diva2:983597
Note

Upprättat; 2011; 20141110 (ninhul)

Available from: 2016-09-29 Created: 2016-09-29 Last updated: 2019-08-16Bibliographically approved

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Emami, Reza

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