A Framework for Robot Control Software Development and Debugging Using a Real-Time Capable Physics Simulation

Conference: ISR 2016 - 47st International Symposium on Robotics
06/21/2016 - 06/22/2016 at München, Germany

Proceedings: ISR 2016

Pages: 8Language: englishTyp: PDF

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Aichele, Fabian; Schenke, Bjoern; Eckstein, Bernd; Groz, Albert (TruPhysics GmbH, Nobelstraße 15, 70569 Stuttgart, Germany)

This work outlines an architecture for developing and testing control programs requiring real-time feedback from the environment based on a plausible physics simulation with highly detailed geometric models, hardware in the loop control and integration of trajectory planning systems.