Case Study: IRCCyN validates hidden robot model for visual servoing with MSC Software Adams

IRCCyN - Customer Case Study

IRCCyN, the Research Institute in Communications and Cybernetic of Nantes, studies robotics and visual servoing, including parallel robots that cannot always be observed directly at the end-effector. In this case, the researchers needed a way to understand why leg-based visual servoing sometimes moved the robot as planned but still left the end-effector in the wrong position or orientation. They used MSC Software’s Adams software to validate their hidden robot model theory.

MSC Software’s Adams was integrated with Simulink through Adams/Controls to simulate the robot controller and the parallel robot together. The simulation matched physical experiments and showed that only the third control case, which used leg directions plus the coordinates of the legs themselves, achieved the correct end-effector position and orientation. IRCCyN said Adams eliminated the need to write complex equations for predicting parallel robot dynamics and provided graphical results that improved understanding of robot behavior.

IRCCyN

Sébastien Briot

Researcher