WebVR Platform for Simulation and Control of Electromechanical Systems in a Virtual Environment
DOI:
https://doi.org/10.46842/ipn.cien.v29n1a09Keywords:
virtual platform, WebVR, electromechanical systems, simulation, controlAbstract
Electromechanical systems play a crucial role in many modern applications. To exploit them effectively, it is essential to tune their controllers appropriately. This tuning usually involves an iterative process of experimenting with the real system on a physical platform. However, to minimize risks and reduce costs, it is more convenient to use simulations of both the systems and their controllers on virtual platforms. Current virtual platforms allow simulations of varying complexity to be carried out using different technologies. Despite this, they have important limitations such as low accessibility, lack of interactive visualization, scarcity of platforms offering accurate simulations of electromechanical systems with kinematic and dynamic models, and dependence on proprietary software and expensive hardware. In addition, emerging technologies such as WebVR, which could increase accessibility and improve immersion at a reasonable cost, are not taken advantage of. To overcome these barriers, this paper proposes a methodology for the development of virtual platforms of electromechanical systems using WebVR. This methodology allows realistic and real-time simulations, with 3D visualizations, interactivity and parameter configuration. The methodology has been successfully applied in the development of a virtual platform for three fully-actuated electromechanical systems: the simple pendulum, the linear inverted pendulum, and the double pendulum.
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Copyright (c) 2025 Gerardo Hernández Hernández, Michel Alejandro Cruz Martínez, Alejandro Rodríguez Molina, Mario Aldape Pérez, Miguel Gabriel Villarreal Cervantes, Allan Balam Rueda Gutiérrez (Autor/a)
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