More and more robot automation applications have changed to wireless communication, and network performance has a growing impact on robotic systems. This study proposes a hardware-in-the-loop (HiL) simulation methodology for connecting the simulated robot platform to real network devices. This project seeks to provide robotic engineers and researchers with the capability to experiment without heavily modifying the original controller and get more realistic test results that correlate with actual network conditions. We deployed this HiL simulation system in two common cases for wireless-network-controlled robotic applications: (1) safe multi-robot coordination for mobile robots, and (2) human-motion-based teleoperation for manipulators. The HiL simulation system is deployed and tested under various network conditions in all circumstances. The experiment results are analyzed and compared with the previous simulation methods, demonstrating that the proposed HiL simulation methodology can identify a more reliable communication impact on robot systems.
翻译:越来越多的机器人自动化应用已转变为无线通信,网络性能对机器人系统的影响越来越大。本研究提出了将模拟机器人平台与真正的网络设备连接起来的“在环”模拟硬件模拟方法。该项目旨在向机器人工程师和研究人员提供实验能力,而不严重修改原始控制器,获得与实际网络条件相关的更现实的测试结果。我们将这个“HIL”模拟系统用于无线网络控制的机器人应用的两个常见案例:(1) 移动机器人的安全多机器人协调,(2) 操纵器的基于人的移动远程操作。“HIL”模拟系统在各种网络条件下部署和测试,实验结果与以前的模拟方法进行了分析和比较,表明拟议的“HIL”模拟方法可以确定对机器人系统的更可靠的通信影响。