Real-time hardware-in-the-loop simulation of a hexaglide type parallel manipulator on a real machine controller

Abstract

The deployment of a virtual implementation of a Hexaglide type parallel robot in the LinuxCNC machine controller running on RTAI RT Linux is presented and assessed. This HiL simulation is used to safely test different experiments and control algorithms before deploying them on the real system. State of the art algorithms to efficiently performReal-Time system's state integration are presented. The symbolic library LIB3D MEC-GiNaC has been used to generate and adapted to automatically export the matrices required by the different algorithms. Three different parametrization strategies are implemented and compared. Performance improvement due to optimization by atomization are also reported. Excellent (under 105 s) Real-Time performance is achieved on standard off the shelf hardware. © Springer Science+Business Media Dordrecht 2013.