TELEGRIP simulation
As the software development progressed concurrently with the construction of the hardware system, it became evident that an emulation of the expected hardware system would be extremely useful. The decision was made to begin development of a comprehensive simulation that would permit the workcell control code to be developed and tested without using the actual hardware. This allows the control software to be written and debugged without halting the production of a functioning workcell. It also proved useful to display the hardware response graphically, especially for investigating various workcell layouts.
A complete workcell simulation has been developed. The simulation code mimics the inputs and outputs of the workcell, allowing for transparent use. In other words, the code which is used to simulate the control of the workcell is the same code running on the same processor boards used to control the physical plant. This is a powerful tool for software design in that there are no inconsistencies between the simulation control code and the actual control code. This eliminates possible porting problems in moving from simulation to the actual control platform.
More information can be found in the following paper:
Last update: 1 October 1996
E-mail:gzipped PostScript format. rdq@po.cwru.edu