Co-simulation Improvement for Uncertain Flexible Robot Arm

Abstract

Flexible robot arm driven by Brushless DC Motor (BDCM) under uncertainties represents one of the most complex and heterogeneous system. Indeed, the verification phase becomes a great challenge for designers. Avoid and predict risks accurately at earlier stage represents the main purpose of the Computer-Aided Design (CAD) field. This paper treats the case of robotics system for tracking trajectory problem and attempts to improve the verification phase by identifying the most suitable co-simulation technique. For the system analyzed in this paper, the flexible robot arm driven by Brushless DC actuator is verified using the Model In the Loop (MIL) technique, the Software In the Loop (SIL) technique and CODIS + technique. Each one verifies the system according to a particular abstraction level. The performance of each technique is determined by measuring the accuracy and time simulation. Experimental results have revealed that CODIS+ is the most adequate technique for flexible robot arm, outperforming MIL and SIL by 4–5 times.