Software In the Loop Simulation for Robot Manipulators
Abstract
In the last decades, the classical verification of robotic software component is postponed until the code is developed enough to function in real hardware. For this reason, the verification of code at early stages is essential to reduce development costs and necessary time for embedded systems such as robot manipulator. Therefore, Software In the Loop (SIL) simulation may be realized in the early stages of software development. It offers the possibility to execute tests before the hardware is available and thus detect errors. In this paper, we propose a Software In the Loop (SIL) test for robot manipulator driven by a Brushless DC Motor without a target system hardware. Simulation results prove the rapidity and the good performance of the developed code for the controller’s part by the validation of the behavior of robot manipulator software.
Keywords:
software in the loop (SIL), robot manipulator, controllers, S-functionDownloads
References
L. Zouari, M. B. Ayed, M. Abid, “Embedded control of robot arm driven by brushless dc motor on fpga”, Complex Systems (WCCS), Second World Conference, pp. 722–727, 2014 DOI: https://doi.org/10.1109/ICoCS.2014.7060985
J. de J Lozoya-Santos, R. Morales-Menendez, R. A Ramirez-Mendoza, “Evaluation of onoff semi-active vehicle suspension systems by using the hardware-in-the-loop approach and the software-in-the-loop approach”, Journal of Automobile Engineering, Vol. 229, No. 1, 2013 DOI: https://doi.org/10.1177/0954407013517222
H. Belhadaoui, Safe design of intelligent mechatronic systems for critical applications, PhD Thesis, Lorraine Polytechnic National Institute, 2011
D. Meola, L. Iannelli, L. Glielmo, “Flight control system for small-size unmanned aerial vehicles: Design and software-in-the-loop validation”, Control & Automation (MED) 21st Mediterranean Conference, pp. 357–362, 2013
L. Zouari, M. Ben Ayed, M. Abid, “Improved performance of a brushless dc motor using hardware in the loop control technique”, 12th International Multi-Conference on Systems, Signals Devices (SSD), Tunisia, pp. 1–6, March 16-19, 2015 DOI: https://doi.org/10.1109/SSD.2015.7348100
H. Vardhan, B. Akin, H. Jin, “A low-cost, high-fidelity processor-in-the loop platform: For rapid prototyping of power electronics circuits and motor drives” IEEE Power Electronics Magazine, Vol. 3, No. 2, pp. 18–28, 2016 DOI: https://doi.org/10.1109/MPEL.2016.2550239
S. Jeong, Y. Kwak, W. Jin Lee, “Software-in-the-loop simulation for early-stage testing of autosar software component”, 8th International Conference on Ubiquitous and Future Networks (ICUFN), pp. 59–63, Austria, July 5-8, 2016
J. F. Broenink, Y. Ni, “Model-driven robot-software design using integrated models and co-simulation”, International Conference on Embedded Computer Systems (SAMOS), pp. 339–344, Greece, July 16-19, 2012 DOI: https://doi.org/10.1109/SAMOS.2012.6404197
J. F. Broenink, Y. Ni, A. Marcel, “Groothuis. On model-driven design of robot software using co-simulation”, Proceedings of SIMPAR 2010 Workshops, International Conference on Simulation, Modeling and Programming for Autonomous Robots, Germany, pp. 659–668, 2010
X. Chen, M. Salem, T. Das, X. Chen, “Real time software-in-the-loop simulation for control performance validation”, Simulation, Vol. 84, No. 8-9, pp. 457–471, 2008 DOI: https://doi.org/10.1177/0037549708097420
A. S. Damstra, Virtual prototyping through co-simulation in hardware/software and mechatronics co-design, MSc Thesis, University of Twente, 2008
D. Garlan, Software architecture: a roadmap, in: The Future of Software Engineering, A. Finkelstein, ed., ACM Press, 2000 DOI: https://doi.org/10.1145/336512.336537
J. C. V. S. Junior, A. V. Brito, T. P. Nascimento, “Verification of embedded system designs through hardware-software co-simulation”, International Journal of Information and Electronics Engineering, Vol. 5, No. 1, pp. 68–73, 2015 DOI: https://doi.org/10.7763/IJIEE.2015.V5.504
A. Bittar, H. V. Figuereido, P. A. Guimaraes, A. C. Mendes, “Guidance software-in-the-loop simulation using x-plane and simulink for uavs”, International Conference on Unmanned Aircraft Systems (ICUAS), pp. 993–1002, USA, May 27-30, 2014 DOI: https://doi.org/10.1109/ICUAS.2014.6842350
A. Kalavade, E. A Lee, “A hardware-software codesign methodology for dsp applications”, IEEE Design Test of Computers, Vol. 10, No. 3, pp. 16–28, 1993 DOI: https://doi.org/10.1109/54.232469
P. Mannar Mannan, Framework for the design and implementation of software defined radio based wireless communication system, MSc Tthesis, University of Akron, 2005
M. Ben Ayed, F. Bouchhima, L. Zouari, M. Abid, “An accelerated hardware software in the loop technique for control units”, International Journal of Mechanical & Mechatronics Engineering, Vol. 14, No. 3, pp. 10–21, 2014
M. Muresan, D. Pitica, “Software in the loop environment reliability for testing embedded code”, IEEE 18th International Symposium on Design and Technology in Electronic Packaging, pp. 325–328, Romania, October 25-28, 2012
J. Ou, V. K. Prasanna, “Matlab/simulink based hardware/software co-simulation for designing using fpga configured soft processors”,19th IEEE International Parallel and Distributed Processing Symposium (IPDPS-05), USA, April 4-8, 2005
E. Stoy, Z. Peng, “Inter-domain movement of functionality as a repartitioning strategy for hardware/software co-design”, Journal of Systems Architecture, Vol. 43, No. 1-5, pp. 87–98, 1997 DOI: https://doi.org/10.1016/S1383-7621(96)00107-5
S. M. Shah, M. Irfan, “Embedded hardware/software verification and validation using hardware-in-the-loop simulation”, IEEE Symposium on Emerging Technologies, pp. 494–498, Pakistan, September 18, 2005
G. Brambilla, A. Grazioli, M. Picone, F. Zanichelli, M. Amoretti, “A cost-effective approach to software-in-the-loop simulation of pervasive systems and applications”, 2014 IEEE International Conference on Pervasive Computing and Communications Workshops (PERCOM Workshops), pp. 207–210, Hungary, March 24-28, 2014 DOI: https://doi.org/10.1109/PerComW.2014.6815202
M. Muresan, D. Pitica, “Software in the loop environment reliability for testing embedded code”, IEEE 18th International Symposium on Design and Technology in Electronic Packaging (SIITME), pp. 325–328, Romania, October 25-28, 2012 DOI: https://doi.org/10.1109/SIITME.2012.6384402
National Instruments, “Automating Real-Time Testing for Embedded Software Development”, Seminar lecture, presentation available at: ftp://ftp.ni.com/pub/branches/spain/eventos/seminarios/seminario_test/herramientas_para_
automatizacion_validacion_software_embebido.pdf
K. Pierce, C. Gamble, Y. Ni, J. F. Broenink, “Collaborative modelling and co-simulation with destecs: A pilot study”, IEEE 21st International WETICE, pp. 280–285, Tunisia, June 25-27, 2012 DOI: https://doi.org/10.1109/WETICE.2012.69
D. Meola, L. Iannelli, L. Glielmo, “Flight control system for small-size unmanned aerial vehicles: Design and software-in-the-loop validation”, 21st Mediterranean Conference on Control and Automation, pp. 357–362, Greece, June 25-28, 2013 DOI: https://doi.org/10.1109/MED.2013.6608746
I. Prado, D. Castro, S. M. G. Filizola, D. Santos, “Software in the loop simulation for multirotor position tracking using a linear constrained model predictive controller”, Proceeding Series of the Brazilian Society of Applied and Computational Mathematics, pp. 0100491–0100496, 2013 DOI: https://doi.org/10.5540/03.2013.001.01.0049
S. Werner, L. Masing, F. Lesniak, J. Becker, “Software-in-the-loop simulation of embedded control applications based on virtual platforms”, 25th International Conference on Field Programmable Logic and Applications (FPL), pp. 1–8, United Kingdom, September 2-4, 2015 DOI: https://doi.org/10.1109/FPL.2015.7294020
M. Hellerer, M. J. Schuster, R. Lichtenheldt, “Software-in-the-loop simulation of a planetary rover”, International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2016), China, June 19-22, 2016
A. Hosseini, H. Karimi, P. Zarafshan, J. Massah, Y. Parandian, “Modeling and control of an octorotor flying robot using the software in a loop”, 4th International Conference on Control, Instrumentation, and Automation (ICCIA), pp. 52–57, Iran, January 27-28, 2016 DOI: https://doi.org/10.1109/ICCIAutom.2016.7483135
A. Santana, L. Martins, R. Duarte, G. Arantes, “Processor-in-the-Loop Simulations Applied to the Design and Evaluation of a Satellite Attitude Control”, in: Computational and Numerical Simulations, Intech, 2014
G. Stoeppler, T. Menzel, S. Douglas, “Hardware-in-the-loop simulation of machine tools and manufacturing systems”, Computing & Control Engineering Journal, Vol. 16, No. 1, pp. 10–15, 2005 DOI: https://doi.org/10.1049/cce:20050101
O. Gietelink, J. Ploeg, B. De Schutter, M. Verhaegen, “Development of advanced driver assistance systems with vehicle hardware-in-the-loop simulations”, Vehicle System Dynamics, Vol. 44, No. 7, pp. 569–590, 2006 DOI: https://doi.org/10.1080/00423110600563338
L. Zouari, H. Abid, M. Abid, “Sliding mode and pi controllers for uncertain flexible joint manipulator”, International Journal of Automation and Computing, Vol. 12, No. 2, pp.117–124, 2015 DOI: https://doi.org/10.1007/s11633-015-0878-x
L. Zouari, H. Abid, M. Abid, “Backstepping controller for electrically driven flexible joint manipulator under uncertainties” International Journal of Applied Engineering Research, Vol. 12, No. 8, pp. 19885–19896, 2015
Downloads
How to Cite
License
Authors who publish with this journal agree to the following terms:
- Authors retain the copyright and grant the journal the right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) after its publication in ETASR with an acknowledgement of its initial publication in this journal.
