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Hardware-in-the-Loop Simulation of Vehicle-Manipulator Systems for Physical Interaction Tasks

Das, Hemjyoti and Sæbø, Bjørn Kåre and Pettersen, Kristin Y. and Ott, Christian (2023) Hardware-in-the-Loop Simulation of Vehicle-Manipulator Systems for Physical Interaction Tasks. In: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023, pp. 4390-4396. IEEE. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023-10-01 - 2023-10-05, Detroit, MI, USA. doi: 10.1109/IROS55552.2023.10342250. ISBN 978-166549190-7. ISSN 2153-0858.

Full text not available from this repository.

Official URL: https://ieeexplore.ieee.org/document/10342250

Abstract

Hardware-in-the-loop simulation (HILS) allows a more realistic evaluation of control approaches than what is possible with pure software simulations, but without the actual complexity of the complete system. This is important for some complex systems such as orbital robots, where testing of the system is typically not possible after its launch, and an on-ground replica is used to validate the performance of such a system. In this article, an impedance-matching approach is presented to match the end-effector dynamics of a fixed-base robot manipulator with that of a target vehicle-manipulator system (VMS), while taking into account the redundant nullspace dynamics in a connected real-time simulation framework. This approach ensures that the forces and torques exerted by the system on the environment matches with that of the simulated system. The contact wrenches used in our approach are not obtained from numerical simulations, but rather from real physical interaction, which is one of the main advantages of our approach. The effectiveness of our method is validated by demonstrating various physical interaction tasks with the environment, using a suspended aerial manipulator as the target system.

Item URL in elib:https://elib.dlr.de/202326/
Document Type:Conference or Workshop Item (Speech)
Title:Hardware-in-the-Loop Simulation of Vehicle-Manipulator Systems for Physical Interaction Tasks
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Das, HemjyotiTU WienUNSPECIFIEDUNSPECIFIED
Sæbø, Bjørn KåreNTNUUNSPECIFIEDUNSPECIFIED
Pettersen, Kristin Y.NTNUUNSPECIFIEDUNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:December 2023
Journal or Publication Title:2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI:10.1109/IROS55552.2023.10342250
Page Range:pp. 4390-4396
Publisher:IEEE
ISSN:2153-0858
ISBN:978-166549190-7
Status:Published
Keywords:HIL simulation
Event Title:2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Detroit, MI, USA
Event Type:international Conference
Event Start Date:1 October 2023
Event End Date:5 October 2023
Organizer:IEEE/RSJ
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Robot Dynamics & Simulation [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Strobl, Dr. Klaus H.
Deposited On:23 Jan 2024 15:20
Last Modified:24 Apr 2024 21:02

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