Co-simulation based method for driving a Desktop Mechatronic Interface for shape rendering

This paper describes an efficient methodology based on the co-simulation between several software tools that has been developed to drive and increase the dynamic behavior of a Desktop Mechatronic Interface (DMI) for shape rendering. The co-simulation is performed by using a multi-body software, which is linked to MATLAB/Simulink. With the multi-body software the virtual simulation of the DMI is performed in order to sense the rotation angles of the virtual servo-actuators. By using this interaction it is possible to control the real servo-actuators presented in the DMI. In addition, through this methodology it is possible to perform experimental simulation in kinematics, dynamics and control of the DMI. A collision approach is presented taking into account both, friction and restitution coefficients which are required in the virtual simulation of the DMI. Simulation results show that the co-simulation platform is established successfully.