The Research Institute in Communications and Cybernetic of Nantes (IRCCyN) has implemented MSC Software‘s Adams multibody dynamics simulation software to validate theoretical works on a visual servoing system.
IRCCyN used Adams simulations to validate this concept of a “hidden robot model” to improve visual servoing accuracy. The hidden robot is a virtual robot whose kinematics represents the mapping between the leg direction space and the end-effector position and orientation space. IRCCyN researchers decided to attempt to determine a general method to define the hidden robot model for any type of parallel robot controlled by visual servoing based on observation of the legs.
“Adams simulations have played an important role in validating our theoretical work on hidden robot models,” said Sébastien Briot, researcher at IRCCyN. “The integration of Adams with Simulink through Adams/Controls eliminated the need for us to write complex equations for predicting the dynamics of parallel robots. It also provided graphical results that gave us a better understanding of robot behavior.”
Sources: Press materials received from the company and additional information gleaned from the company’s website.