EusDyna: Interactive Dynamics Simulation Robot Programming Environment by Micro-Kernel Simulation Method

摘要

This paper proposes the new robot programming environment in which robot motion programming environment and simulator are integrated. This allows robot motion programs to include simulation descriptions. Additionally, a new implementation of simulation that is composed by simulation modules is presented, on the other hand, conventional simulators are monolithic and implanted every function. This makes it difficult to add new sensors on a simulator by its users. In the new method, the users of the environment can add new modules easily. The system is evaluated by showing new robot motions like brooming, seesaw and so on.