Advertisement

rapros: A ROS Package for Rapid Prototyping

  • Luca Cavanini
  • Gionata CiminiEmail author
  • Alessandro Freddi
  • Gianluca Ippoliti
  • Andrea Monteriù
Chapter
Part of the Studies in Computational Intelligence book series (SCI, volume 625)

Abstract

ROS framework lacks of an internal tool to design or test control algorithms and therefore developers have to test their algorithms on-line, directly on the robotic platform they are working with. This is not always safe and possible, and a rapid prototyping tool can help during the design phase. Users can develop their algorithms directly on the controller board and safely test them in a simulated scenario. Although some rapid prototyping tools exist in the ROS community, none of them take Simulink® into consideration. In this work the authors provide an open source Rapid Prototyping tool which integrates ROS and Simulink. The proposed package is useful for control designers, who are frequently used to exploit Simulink features for control deployment. The tool can be downloaded from https://github.com/gionatacimini/rapros.

Keywords

Rapid Prototype Wait State Rapid Prototype Technique Host Address Embed Board 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

References

  1. 1.
  2. 2.
  3. 3.
  4. 4.
  5. 5.
  6. 6.
  7. 7.
  8. 8.
  9. 9.
  10. 10.
  11. 11.
    Hardware-in-the-loop simulationGoogle Scholar
  12. 12.
    B. Bona, M. Indri, N. Smaldone, Rapid prototyping of a model-based control with friction compensation for a direct-drive robot. IEEE/ASME Trans. Mechatron. 11(5), 576–584 (2006)CrossRefGoogle Scholar
  13. 13.
    R. Bucher, S. Balemi, Rapid controller prototyping with Matlab/Simulink and Linux. Control Eng. Pract. 14(2), 185–192 (2006)CrossRefGoogle Scholar
  14. 14.
    G. Calisse, G. Cimini, L. Colombo, A. Freddi, G. Ippoliti, A. Monteriu, M. Pirro, Development of a smart led lighting system: rapid prototyping scenario, in 2014 11th International Multi-Conference on Systems, Signals Devices (SSD), pp. 1–6, Feb 2014Google Scholar
  15. 15.
    G. Cimini, M.L. Corradini, G. Ippoliti, G. Orlando, M. Pirro, A rapid prototyping scenario for power factor control in permanent magnet synchronous motor drives: control solutions for interleaved boost converters. Electr. Power Compon. Syst. 42(6), 639–649 (2014)CrossRefGoogle Scholar
  16. 16.
    G. Cimini, G. Ippoliti, G. Orlando, M. Pirro, PMSM control with power factor correction: rapid prototyping scenario. In 2013 Fourth International Conference on Power Engineering, Energy and Electrical Drives (POWERENG), pp. 688–693, May 2013Google Scholar
  17. 17.
    J. de Carufel, E. Martin, J.-C. Piedboeuf, Control strategies for hardware-in-the-loop simulation of flexible space robots. IEE Proc. Control Theory Appl. 147(6), 569–579 (2000)Google Scholar
  18. 18.
    A. Freddi, S. Longhi, A. Monteriù, Actuator fault detection system for a mini-quadrotor, in IEEE International Symposium on Industrial Electronics, pp. 2055–2060, Bari, Italy, 4–7 July 2010Google Scholar
  19. 19.
    J.O. Hamblen, G.M.E. van Bekkum, An embedded systems laboratory to support rapid prototyping of robotics and the internet of things. IEEE Trans. Educ. 56(1), 121–128 (2013)Google Scholar
  20. 20.
    K.-S. Hwang, W.-H. Hsiao, G.-T. Shing, K.-J. Chen, Rapid prototyping platform for robotics applications. IEEE Trans. Educ. 54(2), 236–246 (2011)Google Scholar
  21. 21.
    N. Koenig, A. Howard, Design and use paradigms for Gazebo, an open-source multi-robot simulator, in IEEE/RSJ International Conference on Proceedings Intelligent Robots and Systems, 2004. (IROS 2004), vol. 3, pp. 2149–2154, Sep 2004Google Scholar
  22. 22.
    T. Laliberte, C.M. Gosselin, G. Cote, Practical prototyping. IEEE Robot. Autom. Mag. 8(3), 43–52 (2001)Google Scholar
  23. 23.
    H. Li, M. Steurer, K.L. Shi, S. Woodruff, D. Zhang, Development of a unified design, test, and research platform for wind energy systems based on hardware-in-the-loop real-time simulation. IEEE Trans. Ind. Electron. 53(4), 1144–1151 (2006)CrossRefGoogle Scholar
  24. 24.
    B. Lu, X. Wu, H. Figueroa, A. Monti, A low-cost real-time hardware-in-the-loop testing approach of power electronics controls. IEEE Trans. Ind. Electron. 54(2), 919–931 (2007)CrossRefGoogle Scholar
  25. 25.
    A. Martin, M.R. Emami, Dynamic load emulation in hardware-in-the-loop simulation of robot manipulators. IEEE Trans. Ind. Electron. 58(7), 2980–2987 (2011)Google Scholar
  26. 26.
    B. Murphy, A. Wakefield, J. Friedman, Best practices for verification, validation, and test in model-based design (Technical report, SAE Technical Paper, 2008)Google Scholar
  27. 27.
    L. Rai, S.-J. Kang, Knowledge-based integration between virtual and physical prototyping for identifying behavioral constraints of embedded real-time systems. IEEE Trans. Syst. Man Cybern. Part A: Syst. Humans 39(4), 754–769 (2009)Google Scholar

Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Luca Cavanini
    • 1
  • Gionata Cimini
    • 1
    Email author
  • Alessandro Freddi
    • 2
  • Gianluca Ippoliti
    • 1
  • Andrea Monteriù
    • 1
  1. 1.Dipartimento di Ingegneria Dell’InformazioneUniversità Politecnica delle MarcheAnconaItaly
  2. 2.Università degli Studi eCampusNovedrateItaly

Personalised recommendations