Software In the Loop Simulation for Robot Manipulators

M Ben Ayed,L Zouari,M Abid

doi:10.48084/etasr.1285

M Ben Ayed, L Zouari + Show 1 more

Open Access

https://doi.org/10.48084/etasr.1285

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Abstract

In the last decades, the classical verification of robotic software component is postponed until the code is developed enough to function in real hardware. For this reason, the verification of code at early stages is essential to reduce development costs and necessary time for embedded systems such as robot manipulator. Therefore, Software In the Loop (SIL) simulation may be realized in the early stages of software development. It offers the possibility to execute tests before the hardware is available and thus detect errors. In this paper, we propose a Software In the Loop (SIL) test for robot manipulator driven by a Brushless DC Motor without a target system hardware. Simulation results prove the rapidity and the good performance of the developed code for the controller’s part by the validation of the behavior of robot manipulator software.

Highlights

The engineering of software and digital electronics represent an important place in the process of the design and the verification of the electronic systems [1, 2]
This paper presents the Software In the Loop (SIL) simulation technique for robot manipulator driven by Brushless DC Motor (BDCM)
SIMULATION RESULTS In order to implement these control algorithms of the studied manipulator, it is essential to check and study as a first step the controllers of the manipulator driven by BDCM in MATLAB/Simulink environment

Summary

INTRODUCTION

The engineering of software and digital electronics represent an important place in the process of the design and the verification of the electronic systems [1, 2]. The number of possible combinations states poses a problem of combinatorial explosion that led to huge numbers of possible states due to the complexity of mechatronic systems [5, 6]. This complexity is a challenge for dependability [1, 5, 7]. To guarantee a high performance of the control system, a flexible joint manipulator which is highly nonlinear, strongly coupled and uncertain is used [19,20,21]. This paper presents the SIL simulation technique for robot manipulator driven by Brushless DC Motor (BDCM). The third section defined the SIL simulation technique. Extracted simulation time prove the role of the SIL technique to accelerate the simulation and prevent the risks

RELATED WORKS

SIL TECHNIQUE

SIL IMPLEMENTATION METHOD

SIMULATION RESULTS

CONCLUSION