Mobile Manipulator Robots Control Through Virtual Hardware In The Loop

This article presents the development of a Hardware-in-the-Loop environment to implement control algorithms based on the kinematic and dynamic model of a mobile manipulator robot consisting of a robotic arm and a unicycle type mobile platform. The HIL control technique makes allows to simulate the behavior of the robotic system in real time. It constitutes the connection between the software that contains the mathematical model of the physical system implemented in a virtual environment and hardware that comprises the control algorithm designed with the purpose of which the robot executes autonomous tasks. Finally, the results ob-tained when carrying out the experimental tests with the mobile manipulator robot and the evaluation of the controller implemented are presented.