Robot Simulator: KUKA YouBot in V-REP

The video shows a simulation performed with the Virtual Robot Experimentation Platform (V-REP: http://www.v-rep.eu ). It shows several of its functionality: distributed control (unlimited concurrently running threaded or non-threaded scripts directly attached to objects or models), inverse kinematics (any mechanism, closed, redundant, with nested loops, etc.), dynamics (in V-REP the user can switch at any time from the Bullet Physics library to the Open Dynamics Engine, both are supported), proximity sensors (exact minimum mesh distance calculation within a customizable detection volume), camera-like sensors (with a large amount of available filter components that can be combined to achieve image processing), exact minimum mesh-mesh distance calculation (for any type of mesh, also concave, open, polygon soup, etc.), elaborate graphing possibilities. Other features of V-REP that are not shown here: fast mesh-mesh interference checking, holonomic path planning in 2-6 dimensions and non-holonomic path planning for car-like vehicles, unlimited number of custom user interfaces with integrated edit-mode, integrated shape edit modes (triangle, vertex and edge), surface cutting simulation, etc.

In this simulation, one YouBot performs a predefined movement sequence while the other visually tracks the light-blue box. The omnidirectional wheels (like any other models in V-REP) are created from basic V-REP objects: the user is able to create complex systems by combining basic objects and making them independent (or work on their own) by attaching control scripts to them, realizing models ready to be used, and that can be dragged-and-dropped into the scene at any time, also during simulation. At the end of the simulation one YouBot moves over a small ramp to visualize the YouBot's front wheel balancing mechanism, allowing it to adjust also for non-even terrain. The original YouBot CAD model is courtesy of KUKA

Category:

Science & Technology

Tags:

• Robot
• Robotics
• Simulator
• Simulation
• V-REP
• virtual
• robot
• experimentation
• platform
• KUKA
• YouBot
• distributed
• control
• inverse
• kinematics
• path
• planning
• Bullet
• ODE
• distance
• calculation
• collision
• checking
• image
• processing

[DarkTripYT]

Which is easier/best/fastest to use: Bullet or ODE? Which do you prefer? Thanks.