TY - GEN
T1 - Hardware-in-the-loop simulation of PUMA 560 via internet
AU - Singaraju, Trivikram
AU - Turan, Ali
AU - Gokasan, Metin
AU - Bogosyan, Seta
PY - 2006
Y1 - 2006
N2 - 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.
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.
KW - Client-server communication
KW - Hardware-in-the-loop simulator
KW - Matlab/simulink
KW - PD+
KW - PUMA 560
KW - Remote robotic laboratories
UR - http://www.scopus.com/inward/record.url?scp=50249181229&partnerID=8YFLogxK
U2 - 10.1109/IECON.2006.347963
DO - 10.1109/IECON.2006.347963
M3 - Conference contribution
AN - SCOPUS:50249181229
SN - 1424401364
SN - 9781424401369
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 5426
EP - 5432
BT - IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
T2 - IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
Y2 - 6 November 2006 through 10 November 2006
ER -