Abstract
This article focuses on the implementation of the Hardware-in-the-Loop technique to evaluate advanced control algorithms to a mobile manipulator robot that comprised of 3DOF anthropomorphic type robotic arm mounted on a unicycle type platform. The implementation of HIL includes the use of Unity 3D graphic engine for the development of a virtual environment that allows to visualize the execution of the movements of the robot through the implemented control algorithm. In addition, it is considered the kinematic model and dynamic model of the robot that represent the characteristics and restrictions of movement of the mobile manipulator robot. Finally, experimental results achieved through the implementation of the HIL technique are presented, in which the behavior of the robotic system and the evolution of control errors when executing locomotion and object manipulation tasks can be verified.
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Acknowledgements
The authors would like to thank the Coorporación Ecuatoriana para el Desarrollo de la Investigación y Academia- CEDIA for their contribution in innovation, through the CEPRA projects, especially the project CEPRA-XIV-2020–08-RVA “Tecnologías Inmersivas Multi-Usuario Orientadas a Sistemas Sinérgicos de Enseñanza-Aprendizaje”; also the Universidad de las Fuerzas Armadas ESPE and the Research Group ARSI, for the support for the development of this work.
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Jorque, B.S., Mollocana, J.D., Ortiz, J.S., Andaluz, V.H. (2021). Mobile Manipulator Robot Control Through Virtual Hardware in the Loop. In: Rocha, Á., Adeli, H., Dzemyda, G., Moreira, F., Ramalho Correia, A.M. (eds) Trends and Applications in Information Systems and Technologies. WorldCIST 2021. Advances in Intelligent Systems and Computing, vol 1365. Springer, Cham. https://doi.org/10.1007/978-3-030-72657-7_8
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DOI: https://doi.org/10.1007/978-3-030-72657-7_8
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