A nonlinear load simulator for robot manipulators

This study is on the development of a Hardware-In-the-Loop system for the high performance control of a 2-link direct drive planar arm. At this stage of the study, necessary hardware and software has been set-up and the actual torque components derived through Euler-Lagrange formulation have been simulated in real time on the test-bed, incorporating a joint actuator-disturbance (load) actuator pair. The expected results have been obtained.