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This paper has been possible thanks to the funding of Science and Innovation Ministry of the Spain Government by means of the Researching and Technologic Development Project DPI2010-20814-C02-01 (IDEMOV). ; Rubio Montoya, FJ.; Valero Chuliá, FJ.; Besa Gonzálvez, AJ.; Pedrosa Sanchez, AM. (2012). Sequential and Simultaneous Algorithms to Solve the Collision-Free Trajectory Planning Problem for Industrial Robots ¿ Impact of Interpolation Functions and the Characteristics of the Actuators on Robot Performance. En Robotic Systems - Applications, Control and Programming. InTech. 591-610. https://doi.org/10.5772/25970 ; S ; 591 ; 610

[EN] The computational cost required to simulate the pantograph-catenary dynamic interaction can be a limiting factor in certain applications. Specifically, for Hardware-in-the-Loop (HIL) simulations, real-time capabilities of the software are imperative. In this paper, we propose to combine a modal coordinate approach with an offline/online strategy to build a very efficient simulation strategy. The proposed approach preserves the accuracy of the results, compared with those obtained by classical finite element strategies. We also define and validate a criterion for a priori truncation of the modal basis and analyse the effect of explicit treatment of the interaction force. The results show that the method presented could be used in pantograph HIL tests. ; The authors would like to acknowledge the funding provided by the Regional Government of Valencia (PROMETEO/2016/007) and the Spanish Ministry of Economy, Industry and Competitiveness (TRA2017-84736-R). ; Gregori Verdú, S.; Tur Valiente, M.; Pedrosa Sanchez, AM.; Tarancón Caro, JE.; Fuenmayor Fernández, F. (2019). A modal coordinate catenary model for the real-time simulations of the pantograph-catenary dynamic interaction. Finite Elements in Analysis and Design. 162:1-12. https://doi.org/10.1016/j.finel.2019.05.001 ; S ; 1 ; 12 ; 162