TY - GEN
T1 - Collaborative Robots Sim
T2 - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
AU - Liu, Haoyuan
AU - Guo, Pin
AU - Jin, Xueying
AU - Zhang, Huaijie
AU - Deng, Huichao
AU - Xu, Kun
AU - Ding, Xilun
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - The collaborative robot peers that are able to perform a variety of missions get attention. The current simulations or research platforms only focus on the information interaction between the robots leading to great limitations in the simulation of collaborative robots. In this paper, a simulation environment for collaborative robots with strong physical interaction is proposed. We analyzed the characteristics of various robot simulation platforms and built the main "control-driving-rectify"framework of the environment based on Gazebo. For a better integration of UAV, UGV, manipulators and the physical simulation framework, we modelled the dynamics simulation system of UAV by propeller dynamics and refine the definition of UAV in the physical simulation after an accurate configuration of them. In the process of environment construction, some plain but innovative and valuable physical interaction modules were created which play a major role in the success of the simulation. Finally, the efficiency of this simulation environment is illustrated and verified through the experiments and specific examples.
AB - The collaborative robot peers that are able to perform a variety of missions get attention. The current simulations or research platforms only focus on the information interaction between the robots leading to great limitations in the simulation of collaborative robots. In this paper, a simulation environment for collaborative robots with strong physical interaction is proposed. We analyzed the characteristics of various robot simulation platforms and built the main "control-driving-rectify"framework of the environment based on Gazebo. For a better integration of UAV, UGV, manipulators and the physical simulation framework, we modelled the dynamics simulation system of UAV by propeller dynamics and refine the definition of UAV in the physical simulation after an accurate configuration of them. In the process of environment construction, some plain but innovative and valuable physical interaction modules were created which play a major role in the success of the simulation. Finally, the efficiency of this simulation environment is illustrated and verified through the experiments and specific examples.
KW - Collaborative robots
KW - simulation environments
KW - simulation of physical interactivity
UR - https://www.scopus.com/pages/publications/85128165210
U2 - 10.1109/ROBIO54168.2021.9739544
DO - 10.1109/ROBIO54168.2021.9739544
M3 - 会议稿件
AN - SCOPUS:85128165210
T3 - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
SP - 1841
EP - 1847
BT - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 27 December 2021 through 31 December 2021
ER -