Next Article in Journal
TeMoto: Intuitive Multi-Range Telerobotic System with Natural Gestural and Verbal Instruction Interface
Previous Article in Journal
A Closed Loop Inverse Kinematics Solver Intended for Offline Calculation Optimized with GA
Article Menu

Export Article

Open AccessArticle
Robotics 2018, 7(1), 8; doi:10.3390/robotics7010008

High Performance Motion-Planner Architecture for Hardware-In-the-Loop System Based on Position-Based-Admittance-Control

Department of Mechanical Engineering, Politecnico di Milano, 20156 Milano, Italy
Todeschini Mario Srl, Via Carlo Porta, 38, 23861 Cesana Brianza LC, Italy
Dipartimento di Ingegneria Industriale e dell’Informazione, Università degli Studi di Pavia, Via A. Ferrata 5, 27100 Pavia, Italy
Authors to whom correspondence should be addressed.
Received: 8 November 2017 / Revised: 16 January 2018 / Accepted: 23 January 2018 / Published: 1 February 2018


This article focuses on a Hardware-In-the-Loop application developed from the advanced energy field project LIFES50+. The aim is to replicate, inside a wind gallery test facility, the combined effect of aerodynamic and hydrodynamic loads on a floating wind turbine model for offshore energy production, using a force controlled robotic device, emulating floating substructure’s behaviour. In addition to well known real-time Hardware-In-the-Loop (HIL) issues, the particular application presented has stringent safety requirements of the HIL equipment and difficult to predict operating conditions, so that extra computational efforts have to be spent running specific safety algorithms and achieving desired performance. To meet project requirements, a high performance software architecture based on Position-Based-Admittance-Control (PBAC) is presented, combining low level motion interpolation techniques, efficient motion planning, based on buffer management and Time-base control, and advanced high level safety algorithms, implemented in a rapid real-time control architecture. View Full-Text
Keywords: hardware in the loop; Position-Based-Admittance-Control; parallel kinematic machine hardware in the loop; Position-Based-Admittance-Control; parallel kinematic machine

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

La Mura, F.; Todeschini, G.; Giberti, H. High Performance Motion-Planner Architecture for Hardware-In-the-Loop System Based on Position-Based-Admittance-Control. Robotics 2018, 7, 8.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
Robotics EISSN 2218-6581 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top