REAL-TIME SIMULATION SYSTEM FOR A ROBOTIC MANIPULATOR AND A COMPUTER NUMERICAL CONTROLLED DEVICE

摘要

This invention consists in a real-time simulation device and technique for robotic manipulators and/or computer numerical controlled systems, equipped with sensors interfaced via encoder type signals, together with a simulation technique. Such a simulation device and technique is typically called 'Hardware-in-the-loop' (HIL) system. In particular, the hardware components defining the device produce simulated signals equivalent to those experienced when working in the real environment. Therefore, the HIL system allows to reproduce a wide range of operating conditions and it allows to observe both the behavior of robotic manipulators and/or computer numerical controlled systems, typically controlled by motion control boards.