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

Author

Singaraju, Trivikram ; Turan, Ali ; Gokasan, Metin ; Bogosyan, Seta

Author_Institution

Dept. of Electr. & Comput. Eng., Alaska Fairbanks Univ., AK

fYear

2006

fDate

6-10 Nov. 2006

Firstpage

5426

Lastpage

5432

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

Internet; client-server systems; computer aided instruction; control engineering education; laboratories; robots; Internet; Matlab; PUMA 560; Simulink; UAF RemoteLab facility; client-server communication; graduate project; hardware-in-the-loop simulation; remote access; robotic configuration; Actuators; Communication system control; Control systems; DC motors; Internet; Motion control; Open loop systems; Robot control; Robot sensing systems; Service robots; Matlab/Simulink; PD+; PUMA 560; Remote robotic laboratories; client-server communication; hardware-in-the-loop simulator;

fLanguage

English

Publisher

ieee

Conference_Titel

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

Conference_Location

Paris

ISSN

1553-572X

Print_ISBN

1-4244-0390-1

Type

conf

DOI

10.1109/IECON.2006.347963

Filename

4153750