Using Modelica for advanced Multi-Body modelling in 3D graphical robotic simulators
نویسندگان
چکیده
This paper describes a framework to extend the 3D robotic simulation environment Gazebo, and similar ones, with enhanced, tailor-made, multi-body dynamics specified in the Modelica language. The body-to-body interaction models are written in Modelica, but they use the sophisticated collision detection capabilities of the Gazebo engine. This contribution is a first step toward the simulation of complex robotics systems integrating detailed physics modelling and realistic sensors such as lidar and cameras. A proof-of-concept implementation is described in the paper integrating Gazebo collider and the Modelica MultiBody library, and the results obtained when simulating the interaction of an elastic sphere with a rigid plane are shown.
منابع مشابه
ObjectStab - A Modelica Library for Power System Stability Studies
Traditionally the simulation of transient and voltage stability in power systems has been constrained to domain-specific tools such as Simpow, PSS/E, ETMSP and EuroStag. While being efficient and thereby able to simulate large systems, their component models are often encapsulated and difficult or impossible to examine and modify. Also, these simulators often require substantial training and ar...
متن کامل9 263
The Modelica[8] standard library and available Modelica tools [4, 7] contain some facilities for specification of 3D geometry and 3D graphics. Geometry and graphics is associated with physical objects included in simulated Modelica models. However, important graphics properties are missing from this model. In particular, physical objects cannot change their shape (geometry) and rendering featur...
متن کاملDesign and Fabrication of a Portable 1-DOF Robotic Device for Indentation Tests
There are many tactile devices for indentation examinations to measure mechanical properties of tissue. The purpose of this paper is to develop a portable indentation robotic device to show its usability for measuring the mechanical properties of a healthy abdominal tissue. These measurements will help to develop suitable mathematical models representing abdominal tissue. A 1-DOF portable robot...
متن کاملA New Trust Model for B2C E-Commerce Based on 3D User Interfaces
Lack of trust is one of the key bottle necks in e-commerce development. Nowadays many advanced technologies are trying to address the trust issues in e-commerce. One among them suggests using suitable user interfaces. This paper investigates the functionality and capabilities of 3D graphical user interfaces in regard to trust building in the customers of next generation of B2C e-commerce websit...
متن کاملAutomatic Map Creation For Environment Modelling In Robotic Simulators
This paper presents an approach to automatically create polygonal maps for environment modeling in simulators based on 3D point cloud data gathered from 3D sensors like laser scanners or RGB-D cameras. The input point clouds are polygonalized using a modified Marching Cubes algorithm and optimized using a pipeline of mesh reduction and filtering steps. Optionally color information from the poin...
متن کامل