수중로봇의 가상물리운용시스템가상물리운용시스템(CPOS) 검증을 위한 HILS 구축

Abstract

Cyber physical operation system (CPOS) is studying to overcome a caused problem to operator who control the robot in the underwater field of vision. It especially is focused on the real time update of underwater vision for clear information of front of view to operator. For the reason, in this paper, we deal with development of a hardware in-the-loop simulation (HILS) that connect with real time physical engine of underwater robot and some part of robot hardware in the water tank. The HILS system consist of real time physical engine of robot, 6-axis motion platform, 6 d.o.f. manipulator and robot frame, water tank and bogie, the scaled seabed topography and sonar scanning system. The 6-axis motion platform run by response of the interaction between robot and road, and the sonar system that attached on the robot frame is scanning the scaled seabed topography, then image processing for real-time virtual reality (VR). Using the HILS system, we validate the real-time of proposed s/w process of CPOS.