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A holistic concurrent design approach to robotics using hardware-in-the-loop simulation
Institute for Aerospace Studies, University of Toronto.
Institute for Aerospace Studies, University of Toronto.ORCID iD: 0000-0003-4977-6339
2013 (English)In: Mechatronics (Oxford), ISSN 0957-4158, E-ISSN 1873-4006, Vol. 23, no 3, p. 335-345Article in journal (Refereed) Published
Abstract [en]

This paper discusses a practical approach to the concurrent design of robot manipulators, which is based on an alternative design methodology, namely Holistic Concurrent Design (HCD), as well as the utilization of a modular hardware-in-the-loop simulation. Holistic concurrent design is a systematic design methodology for mechatronic systems that formalizes subjective notions of design, resulting in the simplification of the multi-objective constrained optimization process. Its premise is to enhance the communication between designers with various backgrounds and customers, and to consider numerous design variables with different natures concurrently. The methodology redefines the ultimate goal of design based on the qualitative notion of satisfaction, and formalizes the effect of designer's subjective attitude in the process. The hardware-in-the-loop platform involves physical joint modules and the control unit of a manipulator in addition to the software simulation to reduce modeling complexities and to take into account physical phenomena that are hard to be captured mathematically. This platform is implemented in the HCD design architecture to reliably evaluate the design attributes and performance supercriterion during the design process. The resulting architecture is applied to redesigning kinematic, dynamic and control parameters of an industrial manipulator. Copyright © 2013 Published by Elsevier Ltd. All rights reserved.

Place, publisher, year, edition, pages
2013. Vol. 23, no 3, p. 335-345
Keywords [en]
Concurrent design, Hardware-in-the-loop simulation, Mechatronics, Multidisciplinary systems, Robot manipulator
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Onboard space systems
Identifiers
URN: urn:nbn:se:ltu:diva-13721DOI: 10.1016/j.mechatronics.2013.01.010Scopus ID: 2-s2.0-84880334049Local ID: d01120ee-8a63-4463-8a2a-c6dda14b0b35OAI: oai:DiVA.org:ltu-13721DiVA, id: diva2:986674
Note

Upprättat; 2013; 20141110 (ninhul)

Available from: 2016-09-29 Created: 2016-09-29 Last updated: 2019-04-29Bibliographically approved

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