Analysis of robotic hardware-in-the-loop simulation architecture

An architecture for robotic hardware-in-the- loop simulation (RHILS) has been proposed as a design and simulation tool for serial-link robot manipulators. This paper evaluates the RHILS platform's capabilities when applied to the simulation of the 5-d.o.f. CRS CataLyst-5 industrial manipulator from Thermo Fisher Scientific Inc. The results demonstrate that the RHILS platform is able to accurately simulate the robot even under extreme operating conditions, and the platform shows significant potential as a design tool for both the robot and its control unit.