论文标题
用于评估对无线网络控制机器人的通信影响的硬件模拟
Hardware-in-the-Loop Simulation for Evaluating Communication Impacts on the Wireless-Network-Controlled Robots
论文作者
论文摘要
越来越多的机器人自动化应用程序已更改为无线通信，网络性能对机器人系统的影响越来越大。这项研究提出了一种将模拟机器人平台连接到真实网络设备的硬件（HIL）模拟方法。该项目旨在为机器人工程师和研究人员提供实验的能力，而无需大量修改原始控制器并获得与实际网络条件相关的更现实的测试结果。我们在两个常见的情况下，用于通过无线网络控制的机器人应用部署此HIL模拟系统：（1）移动机器人的安全多机器人协调，以及（2）基于人动物的操纵器的远程操作。在任何情况下，在各种网络条件下都在各种网络条件下部署和测试HIL模拟系统。对实验结果进行了分析，并将其与先前的仿真方法进行了比较，表明所提出的HIL模拟方法可以识别对机器人系统的更可靠的通信影响。
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.
