SIMULATION OF AN IMPEDANCE-CONTROLLED ROBOT INTERACTING WITH A REAL ENVIRONMENT USING HARDWARE-IN-THE-LOOP

Philippe Hamelin, Pascal Bigras, Sylvain Lemieux, and Michel Blain

Keywords

Hardwareintheloop, simulation, robot, directdrive, prototyping, impedance control

Abstract

This paper presents the hardware-in-the-loop simulation (HILS) of an impedance-controlled virtual robot interacting with a real environment. The hardware-in-the-loop controller used is designed to command a real direct-drive robot to replicate the dynamics of a virtual robot, which means that the simulated robot will act virtually in the real environment. Constrained and unconstrained simulation schemes are compared. The addition of an integrator to the hardware-in-the-loop controller is proposed to improve the unconstrained simulation scheme. Experimental results show that the real robot can accurately reproduce the virtual robot dynamics, thereby demonstrating the validity of the HILS.

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