Software Environment for Robot Control Solutions Design, Optimisation and Testing

Authors:	Pagliarini Gian Pietro, ITIA CNR, Italy Carpanzano Emanuele, ITIA CNR, Italy
Topic:	4.2 Mechatronic Systems
Session:	Mechatronic Applications
Keywords:	motion control, integrated simulation, reconfigurable robotic systems

Abstract

In the present paper a software environment for the study and verification of robot control solutions is described. Such a tool is based on closed loop modelling and simulation in the integrated ADAMS-Simulink environment. The proposed method is applied to the study and optimization of the control of a prototypical system, constituted by a reconfigurable robot with parallel architecture and by an open PC based controller. Copyright © 2005 IFAC