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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.
Robotics 2018, 7(1), 8;
Received: 8 November 2017 / Revised: 16 January 2018 / Accepted: 23 January 2018 / Published: 1 February 2018
PDF [9355 KB, uploaded 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

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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).

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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.

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