ncetothiscommonend-effectorframemountedonthepayload.However,thelocationsoftheattachmentsofthephysicalmanipulatorswithrespecttothepayloadreferenceframemustbeknownapriori.ImplementationframeworkWeexaminethedesignanddevelopmentofatwo-stageimplementationframework,showninFig.,thatemphasizesbothvirtualprototyping(VP)basedrefinementandhardware-in-the-loop(HIL)experimentation.Fig.ParadigmforrapiddevelopmentandtestingofthecontrolschemeonvirtualandphysicalprototypesVirtualprototypingbasedrefinementInthefirststage,weemployvirtualprototyping(VP)toolstorapidlycreate,evaluateandrefineparametricmodelsoftheoverallsystemandtestvariousalgorithmsinsimulationwithinavirtualenvironment.DsolidmodelsofthemobileplatformsandthemanipulatorsofinterestarecreatedinaCADpackage,andexportedwiththeircorrespondinggeometricandmaterialpropertiesintoadynamicsimulationenvironment.Figure(a)showsanexampleoftheapplicationofsuchframework迹是由关节处尺寸经后处理得到。
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