Hardware in the loop simulation of robot manipulators through Internet in mechatronics education

Temeltas H., Gokasan M., Bogosyan S., Kilic A.

28th Annual Conference of the IEEE Industrial-Electronics-Society, Sevilla, Spain, 5 - 08 November 2002, pp.2617-2622 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/iecon.2002.1182806
  • City: Sevilla
  • Country: Spain
  • Page Numbers: pp.2617-2622
  • Istanbul Technical University Affiliated: No


This study is on the development of a remote simulation of robot manipulators using Hardware-In-the-Loop (HIL) system for mechatronics education. At this stage of the study, necessary hardware and software has been set-up and the actual torque components derived through Euler-Lagrange formulation have been simulated in real time on the test-bed, incorporating a joint actuator-disturbance (load) actuator pair. The required communication and user interfaces are implemented through the use of internet technologies. The expected results have been obtained.