Dynamic Modelling and Hardware-in-the-loop Simulation applied to a Mechatronic Project

At the present study Hardware-in-the-Loop (HIL) techniques are applied in the control designing and development stages of a complex mechatronic project. Complex mechatronic systems usually have several degrees of freedom (DOFs), many sensors and a large number of work condition possibilities. Such techniques aim to extend the capability and flexibility of projects development and designing. Also, the methodology uses to be based on the simulation of part of the system, or a group of them, in a virtual environment provided with real time software and hardware. The simulation works in synchronism with a real system through a virtual-electro-electronic interface. In this paper HIL techniques are used to design and develop a control system for a complex mechatronic project. The project consists on a several DOFs anthropomorphic hand which is intended to realize manipulation tasks. In the development stage each real subsystem, i.e. controller, actuators and sensors, is tested working in set with a simulated system. Results show that HIL techniques improves the capability and flexibility at system development, and, additionally, allow designing and development of more complex mechatronic systems.