Hardware-in-the-loop simulation of PUMA 560 via internet

Trivikram Singaraju; Ali Turan; Metin Gokasan; Seta Bogosyan

doi:10.1109/IECON.2006.347963

Hardware-in-the-loop simulation of PUMA 560 via internet

Trivikram Singaraju^*, Ali Turan, Metin Gokasan, Seta Bogosyan

^*Corresponding author for this work

University of Alaska Fairbanks

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

12 Citations (Scopus)

Abstract

This study introduces a remotely accessible Hardware-in-the-Loop Simulator (HILS), which is used for the development of the PUMA 560 dynamics and control. The HILS setup aims to give on-site and remote students/researchers the capability to experiment with any robotic configuration and control algorithm of their choice, without the need for the physical existence of the equipment in the laboratory. To increase the flexibility offered by the system, the HILS setup is made a part of the UAF RemoteLab facility, with the developed client/server communication, which gives remote access to all Matlab/Simulink based applications. As an implementation example, in this study, the HILS setup is used to develop dynamics and PD+ control of PUMA 560 as a graduate project. Experimental results and animations are also presented.

Original language	English
Title of host publication	IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
Pages	5426-5432
Number of pages	7
DOIs	https://doi.org/10.1109/IECON.2006.347963
Publication status	Published - 2006
Externally published	Yes
Event	IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics - Paris, France Duration: 6 Nov 2006 → 10 Nov 2006

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)

Conference

Conference	IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
Country/Territory	France
City	Paris
Period	6/11/06 → 10/11/06

Keywords

Client-server communication
Hardware-in-the-loop simulator
Matlab/simulink
PD+
PUMA 560
Remote robotic laboratories

Access to Document

10.1109/IECON.2006.347963

Cite this

@inproceedings{197243d240034466ba438712612b45e4,

title = "Hardware-in-the-loop simulation of PUMA 560 via internet",

abstract = "This study introduces a remotely accessible Hardware-in-the-Loop Simulator (HILS), which is used for the development of the PUMA 560 dynamics and control. The HILS setup aims to give on-site and remote students/researchers the capability to experiment with any robotic configuration and control algorithm of their choice, without the need for the physical existence of the equipment in the laboratory. To increase the flexibility offered by the system, the HILS setup is made a part of the UAF RemoteLab facility, with the developed client/server communication, which gives remote access to all Matlab/Simulink based applications. As an implementation example, in this study, the HILS setup is used to develop dynamics and PD+ control of PUMA 560 as a graduate project. Experimental results and animations are also presented.",

keywords = "Client-server communication, Hardware-in-the-loop simulator, Matlab/simulink, PD+, PUMA 560, Remote robotic laboratories",

author = "Trivikram Singaraju and Ali Turan and Metin Gokasan and Seta Bogosyan",

year = "2006",

doi = "10.1109/IECON.2006.347963",

language = "English",

isbn = "1424401364",

series = "IECON Proceedings (Industrial Electronics Conference)",

pages = "5426--5432",

booktitle = "IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics",

note = "IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics ; Conference date: 06-11-2006 Through 10-11-2006",

}

Singaraju, T, Turan, A, Gokasan, M & Bogosyan, S 2006, Hardware-in-the-loop simulation of PUMA 560 via internet. in IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics., 4153750, IECON Proceedings (Industrial Electronics Conference), pp. 5426-5432, IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics, Paris, France, 6/11/06. https://doi.org/10.1109/IECON.2006.347963

Hardware-in-the-loop simulation of PUMA 560 via internet. / Singaraju, Trivikram; Turan, Ali; Gokasan, Metin et al.
IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics. 2006. p. 5426-5432 4153750 (IECON Proceedings (Industrial Electronics Conference)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - This study introduces a remotely accessible Hardware-in-the-Loop Simulator (HILS), which is used for the development of the PUMA 560 dynamics and control. The HILS setup aims to give on-site and remote students/researchers the capability to experiment with any robotic configuration and control algorithm of their choice, without the need for the physical existence of the equipment in the laboratory. To increase the flexibility offered by the system, the HILS setup is made a part of the UAF RemoteLab facility, with the developed client/server communication, which gives remote access to all Matlab/Simulink based applications. As an implementation example, in this study, the HILS setup is used to develop dynamics and PD+ control of PUMA 560 as a graduate project. Experimental results and animations are also presented.

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Hardware-in-the-loop simulation of PUMA 560 via internet

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Keywords

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