Open AccessModeling and testing of control system for an underwater dual-arm robot
Author(s) -
Vadim Kramar,
Aleksey Kabanov,
Oleg Kramar,
Aleksandr Putin
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/971/4/042076
Subject(s) - robot , correctness , computer science , software , simulation , non regression testing , matlab , control system , software performance testing , real time testing , dual (grammatical number) , control engineering , software system , engineering , artificial intelligence , software construction , operating system , electrical engineering , programming language , art , literature
The article exams the approach to testing the software of the control system for an underwater dual-arm robot. The proposed approaches are related both to the modeling of robot computer models in Matlab, to testing the control system software by a dual-arm robot simulator and to testing software by the real robot. The proposed testing approach made it possible to verify the correctness of the developed control system software by evaluating parameters such as accuracy and repeatability. An example of a test procedure using the robot simulator is given.