A Hardware-in-the-Loop Simulation for a Teleoperated 8-DOF Manipulator System

This paper presents a Hardware-in-the-loop (HIL) simulation methodology for teleoperating the cable-driven manipulator system. This system includes a joystick device, designated as a delta robot, used for controlling the manipulator by the HIL simulation technique in the teleoperation system. First of all, the kinematic mathematics of multiple Degrees of freedom (DOF) manipulator is verified with the HIL simulation method. Furthermore, the teleoperation algorithm is employed to guarantee the simultaneous utilization of the two workspaces. Besides, the joystick device is connected to the manipulator on Matlab Simulink 2022b to generate the communication protocol for teleoperation control. Finally, the effectiveness of the HIL simulation method is evaluated by some experiments on the teleoperated cable-driven manipulator system.