A Comparative Study of Computer-Aided Engineering Techniques for Robot Arm Applications
| Autor: | Slim Chtourou, Lilia Zouari, M. Ben Ayed, Shaya Abdullah Alshaya |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
Process (engineering)
Computer science 020209 energy Control unit 02 engineering and technology DC motor Software portability lcsh:Technology (General) 0202 electrical engineering electronic engineering information engineering brushless DC motor lcsh:T58.5-58.64 Event (computing) business.industry lcsh:Information technology 020208 electrical & electronic engineering model in the toop Hardware-in-the-loop simulation Control engineering robot arm lcsh:TA1-2040 lcsh:T1-995 hardware software in the loop Computer-aided engineering business lcsh:Engineering (General). Civil engineering (General) Robotic arm control hardware in the loop |
| Zdroj: | Engineering, Technology & Applied Science Research, Vol 10, Iss 6 (2020) |
| ISSN: | 1792-8036 2241-4487 |
| Popis: | As systems become increasingly complex, their simulation techniques have to be more accurate and enhanced. Despite the wide use of robotic arms in industries, they still encompass a wide number of complexities. The control of a flexible robot arm driven by a Brushless DC Motor (BDCM) for tracking problems is a great challenge, not only for its complex algorithms but also for its verification process. Robotic systems are designed heterogeneously by combining continuous and event discrete models. Therefore, computer-aided engineering tools have to be enhanced in order to support the verification of the control algorithms. Ensuring definite and rapid simulations is a challenging task for robotic application systems. Although control strategies can be tested using the Matlab/Simulink environment to assess their performance, their verification at a low-level still remains a very difficult task. This paper studies different simulation techniques based on Model In the Loop (MIL), Hardware In the Loop (HIL), and Hardware Software In the Loop (HSIL) on a flexible robot arm driven by BDCM in order to overcome each method's limits, focusing on performance and cost and simulation time reduction. The HSIL achieves the highest accuracy and speed than MIL and HIL and provides reusability and portability of the control unit compared to the other techniques. |
| Databáze: | OpenAIRE |
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