Torres, F.J.; Martínez, I.; Aguirre, F.A.; Garcia-Murillo, M.A.; Balvantín-García, A.; Núñez, D.A. Low-cost Open Source Tool for Frugal Computer Simulation of Robotics Nonlinear Control. Preprints2023, 2023090372. https://doi.org/10.20944/preprints202309.0372.v1
APA Style
Torres, F.J., Martínez, I., Aguirre, F.A., Garcia-Murillo, M.A., Balvantín-García, A., & Núñez, D.A. (2023). Low-cost Open Source Tool for Frugal Computer Simulation of Robotics Nonlinear Control. Preprints. https://doi.org/10.20944/preprints202309.0372.v1
Chicago/Turabian Style
Torres, F.J., Antonio Balvantín-García and Diego A. Núñez. 2023 "Low-cost Open Source Tool for Frugal Computer Simulation of Robotics Nonlinear Control" Preprints. https://doi.org/10.20944/preprints202309.0372.v1
Abstract
Commonly, professors, students and researchers from universities around the world use software distributed under a license agreement for computer simulation purposes, which requires a computer with considerable hardware capabilities. Consequently, this implies a high cost to conduct simulations that require implementing numerical methods in all areas of engineering, particularly in the field of robotics and nonlinear control. This paper presents the design and results analysis of a low-cost and open-source frugal computer simulation tool with applications to robotic nonlinear control, for instance, for numerical simulations of manipulator robot control based on dynamic models. Using a single board minicomputer with with reduced computing power, Raspberry Pi, together with free software, GNU-Octave, trajectory tracking control simulations in the joint space of a Selective Conformal Assembly Robot Arm (SCARA) are achieved by solving a system of nonlinear differential equations, represented in matrix form, which includes the control law and the system model. The results of the proposed alternative are compared by running the same simulation code on a laptop computer using MATLAB and GNU Octave, which show minimal deviations and reasonable time complexity. Moreover, considering the frugality curve calculated for this approach, in addition to the low acquisition cost of the simulation software tool, it would allow the creation of a simulation laboratory in some universities with budgetary constraints for educational and research purposes.
Keywords
Open-source; Raspberry Pi; computer simulation; frugal; nonlinear control
Subject
Computer Science and Mathematics, Other
Copyright:
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.
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