Innovative Tools for Real-Time Simulation of Dynamic Systems

Gianluca Palli, Raffaella Carloni, Claudio Melchiorri

Research output: Contribution to conferencePaperAcademicpeer-review

3 Citations (Scopus)

Abstract

In this paper, we present a software architecture, based on RTAI-Linux, for the real-time simulation of dynamic systems and for the rapid prototyping of digital controllers. Our aim is to simplify the testing phase of digital controllers by providing the real-time simulation of the plant with the same interface used for the communication between the control applications and real plant. This unified interface, based on the COMEDI library, allows to switch the controller from the simulated to the real plant without any modification of the control software. Moreover, a set of tools for helping the users in the development of the real-time simulation tasks of the plants have been developed. A great attention has been posed in the automatic generation of symbolic kinematic and dynamic models of robotic manipulators from a description of the robot in terms of kinematic parameters and inertia/center of mass of each link. The system, besides being useful for rapid prototyping of mechatronic control systems, may be used for fault detection, and also as a teaching tool in Mechatronic/Digital Control Courses. A case study, the real-time simulation and control of the PUMA 560 manipulator, is presented and discussed.
Original languageUndefined
Pages14612-14617
Number of pages6
DOIs
Publication statusPublished - Jul 2008
Event17th IFAC World Congress 2008 - Seoul, Korea, Republic of
Duration: 5 Jul 200812 Jul 2008
Conference number: 17

Conference

Conference17th IFAC World Congress 2008
CountryKorea, Republic of
CitySeoul
Period5/07/0812/07/08

Keywords

  • EWI-20228
  • IR-77502
  • CE-Advanced Robotics
  • Control Education

Cite this

Palli, G., Carloni, R., & Melchiorri, C. (2008). Innovative Tools for Real-Time Simulation of Dynamic Systems. 14612-14617. Paper presented at 17th IFAC World Congress 2008, Seoul, Korea, Republic of. https://doi.org/10.3182/20080706-5-KR-1001.02475
Palli, Gianluca ; Carloni, Raffaella ; Melchiorri, Claudio. / Innovative Tools for Real-Time Simulation of Dynamic Systems. Paper presented at 17th IFAC World Congress 2008, Seoul, Korea, Republic of.6 p.
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abstract = "In this paper, we present a software architecture, based on RTAI-Linux, for the real-time simulation of dynamic systems and for the rapid prototyping of digital controllers. Our aim is to simplify the testing phase of digital controllers by providing the real-time simulation of the plant with the same interface used for the communication between the control applications and real plant. This unified interface, based on the COMEDI library, allows to switch the controller from the simulated to the real plant without any modification of the control software. Moreover, a set of tools for helping the users in the development of the real-time simulation tasks of the plants have been developed. A great attention has been posed in the automatic generation of symbolic kinematic and dynamic models of robotic manipulators from a description of the robot in terms of kinematic parameters and inertia/center of mass of each link. The system, besides being useful for rapid prototyping of mechatronic control systems, may be used for fault detection, and also as a teaching tool in Mechatronic/Digital Control Courses. A case study, the real-time simulation and control of the PUMA 560 manipulator, is presented and discussed.",
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Palli, G, Carloni, R & Melchiorri, C 2008, 'Innovative Tools for Real-Time Simulation of Dynamic Systems' Paper presented at 17th IFAC World Congress 2008, Seoul, Korea, Republic of, 5/07/08 - 12/07/08, pp. 14612-14617. https://doi.org/10.3182/20080706-5-KR-1001.02475

Innovative Tools for Real-Time Simulation of Dynamic Systems. / Palli, Gianluca; Carloni, Raffaella; Melchiorri, Claudio.

2008. 14612-14617 Paper presented at 17th IFAC World Congress 2008, Seoul, Korea, Republic of.

Research output: Contribution to conferencePaperAcademicpeer-review

TY - CONF

T1 - Innovative Tools for Real-Time Simulation of Dynamic Systems

AU - Palli, Gianluca

AU - Carloni, Raffaella

AU - Melchiorri, Claudio

PY - 2008/7

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N2 - In this paper, we present a software architecture, based on RTAI-Linux, for the real-time simulation of dynamic systems and for the rapid prototyping of digital controllers. Our aim is to simplify the testing phase of digital controllers by providing the real-time simulation of the plant with the same interface used for the communication between the control applications and real plant. This unified interface, based on the COMEDI library, allows to switch the controller from the simulated to the real plant without any modification of the control software. Moreover, a set of tools for helping the users in the development of the real-time simulation tasks of the plants have been developed. A great attention has been posed in the automatic generation of symbolic kinematic and dynamic models of robotic manipulators from a description of the robot in terms of kinematic parameters and inertia/center of mass of each link. The system, besides being useful for rapid prototyping of mechatronic control systems, may be used for fault detection, and also as a teaching tool in Mechatronic/Digital Control Courses. A case study, the real-time simulation and control of the PUMA 560 manipulator, is presented and discussed.

AB - In this paper, we present a software architecture, based on RTAI-Linux, for the real-time simulation of dynamic systems and for the rapid prototyping of digital controllers. Our aim is to simplify the testing phase of digital controllers by providing the real-time simulation of the plant with the same interface used for the communication between the control applications and real plant. This unified interface, based on the COMEDI library, allows to switch the controller from the simulated to the real plant without any modification of the control software. Moreover, a set of tools for helping the users in the development of the real-time simulation tasks of the plants have been developed. A great attention has been posed in the automatic generation of symbolic kinematic and dynamic models of robotic manipulators from a description of the robot in terms of kinematic parameters and inertia/center of mass of each link. The system, besides being useful for rapid prototyping of mechatronic control systems, may be used for fault detection, and also as a teaching tool in Mechatronic/Digital Control Courses. A case study, the real-time simulation and control of the PUMA 560 manipulator, is presented and discussed.

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KW - IR-77502

KW - CE-Advanced Robotics

KW - Control Education

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Palli G, Carloni R, Melchiorri C. Innovative Tools for Real-Time Simulation of Dynamic Systems. 2008. Paper presented at 17th IFAC World Congress 2008, Seoul, Korea, Republic of. https://doi.org/10.3182/20080706-5-KR-1001.02475