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Development of a modular hardware-in...

Martin, Adrian.

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Development of a modular hardware-in-the-loop simulation platform for synthesis and analysis of robot manipulators.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Development of a modular hardware-in-the-loop simulation platform for synthesis and analysis of robot manipulators./
Author:	Martin, Adrian.
Description:	91 p.
Notes:	Source: Masters Abstracts International, Volume: 45-06, page: 3280.
Contained By:	Masters Abstracts International45-06.
Subject:	Engineering, Mechanical. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=MR27263
ISBN:	9780494272633

Development of a modular hardware-in-the-loop simulation platform for synthesis and analysis of robot manipulators.
Martin, Adrian.

Development of a modular hardware-in-the-loop simulation platform for synthesis and analysis of robot manipulators. - 91 p.

Source: Masters Abstracts International, Volume: 45-06, page: 3280.

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

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.

ISBN: 9780494272633Subjects--Topical Terms:

783786
Engineering, Mechanical.

Development of a modular hardware-in-the-loop simulation platform for synthesis and analysis of robot manipulators.
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245 1 0 $a Development of a modular hardware-in-the-loop simulation platform for synthesis and analysis of robot manipulators.
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502 $a Thesis (M.A.Sc.)--University of Toronto (Canada), 2007.
520 $a 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.
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