Development of Hardware-in-Loop Simulation Platform for Collaborative Robots Based on LinuxCNC and V-rep

Cooperative robots are currently the leading research and development direction of the robotics industry. Developing robotic systems often requires a combination of software and hardware. However, due to its complexity, making a real robot itself proposes great challenges to developers. This article describes a hardware-in-the-loop simulation control development platform based on Linux CNC and V-rep simulation software. In the real-time Linux system, we build a general-purpose, modular cooperative robot control system; and we establish a robot model in the V-rep. Data communication between them can be achieved through data interaction module. Thanks to the modularity of the control system, developers are free to add algorithmic modules. In this paper, a six-degree-of-freedom lightweight robotic arm model is taken as an example to serve as a virtual controlled object of the above cooperative robot control system. Afterwards, this paper establishes the forward and inverse kinematics algorithm and dynamics algorithm of the robot separately, and verifies the validity of this hardware-in-loop simulation development platform.