Object-oriented programming for robotic manipulator simulation

Gourdeau, Richard

doi:10.1109/100.618020

“…Other open source packages are in the form of toolboxes. Outstanding examples of this kind of platforms are RoboOp [8], Form [9], Modelica [10] and ViSP [11], based on an object-oriented design, and SimMechanics [12], RobotiCad [13] and Robotics Toolbox [14], Matlab-Simulink computational libraries With regard to Computer Vision processing tools, several libraries and systems have been developed for research and education. It is worth mentioning the Open Computer Vision Library (OpenCV) [15], VIGRA [16] and VXL [17], some of the most complete and efficient computer vision libraries develop in C++ language.…”

Section: Introductionmentioning

confidence: 99%

EJS+EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operation

Jara

¹

,

Candelas

²

,

Gil

³

et al. 2011

Robotics and Autonomous Systems

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This paper presents an interactive Java software platform which enables users to easily create advanced robotic applications together with computer vision processing. This novel tool is composed of two layers: 1) Easy Java Simulations (EJS), an open-source tool which provides support for creating applications with a full 2D/3D interactive graphical interface, and 2) EjsRL, a high-level Java library specifically designed for EJS which provides a complete functional framework for modeling and simulation of arbitrary serial-link manipulators, computer vision algorithms and remote operation. The combination of both components sets up a software architecture which contains a high number of functionalities in the same platform to develop complex simulations in robotics and computer vision fields. In addition, the paper shows its successful application to virtual and remote laboratories, web-based resources that enhance the accessibility of experimental setups for education and research.

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“…Users are forced to draw parts and obstacles themselves. Modular software packages for control aspects of robotics do exist 9,10 ; however these do not address geometric motion planning aspects. In fact these packages would be complementary to the MPK.…”

Section: Relation To Prior Workmentioning

confidence: 99%

MPK: An open extensible motion planning kernel

Gipson

¹

,

Gupta

²

,

Greenspan

³

2001

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“…

-Uses the ODE (Open Dynamics Engine) library for accurate physics simulation.-Creates AVI or MPEG simulation movies for web and public presentations.-Includes many examples with controller source code and models of commercially available robots.-Lets you simulate multi-agent systems, with global and local communication facilities", Olivier [5].Gourdeau [6] has indicated that, "Using an object-oriented programming approach, ROBOOP, a robotic manipulator simulation package which is both platform and vendor independent, compares favorably against a package requiring similar coding effort", Gourdeau [6]. In fact, he also indicated that, the performance tests show that with ROBOOP, the routine (with a class), inverse dynamics of a 6-DOF robot was made faster, can be computed and simulated in less than (5 ms) with a Pentium (100 MHz) computer.

Ramasamy and Arshad, [7] have both developed a robotic hand simulator.

…”

mentioning

confidence: 99%

e_GRASP: Robotic Hand Modeling and Simulation Environment

Mattar¹

2013

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-Uses the ODE (Open Dynamics Engine) library for accurate physics simulation.-Creates AVI or MPEG simulation movies for web and public presentations.-Includes many examples with controller source code and models of commercially available robots.-Lets you simulate multi-agent systems, with global and local communication facilities", Olivier [5].Gourdeau [6] has indicated that, "Using an object-oriented programming approach, ROBOOP, a robotic manipulator simulation package which is both platform and vendor independent, compares favorably against a package requiring similar coding effort", Gourdeau [6]. In fact, he also indicated that, the performance tests show that with ROBOOP, the routine (with a class), inverse dynamics of a 6-DOF robot was made faster, can be computed and simulated in less than (5 ms) with a Pentium (100 MHz) computer.Ramasamy and Arshad, [7] have both developed a robotic hand simulator. They indicated that "This robotic hand simulation is divided into three main parts. The main objective is to design a three dimensional graphic of a robotic hand and its movement animation AbstractModeling and simulation of robotics hands are significant topics that have been looked into by many robotics Specialists and programming experts. This is due to a demand to build a friendly platform for analyzing proposed hand design and movements, earlier to hand physical construction. For meeting such demands, a dexterous robotic hand software simulator was synthesized. The developed code is dexterity characterized robotic hand modeling and simulation software environment. The simulator was developed for robotics hands research purposes. This manuscript is presenting a brief documentation of such a modeling and simulating environment for simulating dynamic movements of multi-finger robotics hand. The environment is named as the e_GRASP. To make use of other supporting environments, e_GRASP is a Mat lab based simulator, with a quite large number of linked functionalities and routines that helps in simulating hand movements in a defined 3D space. e_GRASP was built after a number of years of experience while dealing with robot hands, hence it is a comprehensive Mat lab based Toolbox that makes use of other Mat lab defined Toolboxes. e_GRASP can also be interfaced to real-time hand control, with an ability to be linked with even higher levels of hierarchy. This includes Mat lab AI Tools, optimization, as considered useful toolboxes for dexterous hands for grasping and manipulation.

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Object-oriented programming for robotic manipulator simulation

Cited by 64 publications

References 11 publications

EJS+EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operation

EJS+EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operation

MPK: An open extensible motion planning kernel

e_GRASP: Robotic Hand Modeling and Simulation Environment

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