Title: Virtual prototyping for robot controllers

Authors: Mehmet Ismet Can Dede

Addresses: Department of Mechanical Engineering, Izmir Institute of Technology, 35430, Izmir, Turkey

Abstract: Production of a new mechanism involves design, manufacturing and testing phases. In order to achieve shorter turn-around times, researchers have studied methods of shortening these phases. Today, structural tests and simulations conducted in virtual environments prior to manufacturing are a part of most of the standard production processes. However, in robot production not only the structural aspect of the mechanism but also its controller is required to be tested. This paper summarises a versatile method to rapid prototype the robots in virtual environments to conduct controller tests. The verified controllers are then employed in actual robot prototype. The procedure is implemented in a gimbal-based joystick production process.

Keywords: robotics; virtual prototyping; rapid prototyping; hardware in the loop simulation; robot control; control design; robot prototypes; gimbal-based joysticks.

DOI: 10.1504/IJDE.2010.039761

International Journal of Design Engineering, 2010 Vol.3 No.3, pp.276 - 288

Published online: 18 Apr 2011 *

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