Cooperative robotic system simulation in Webots

摘要

This paper details simulation of a cooperative robotics system composed of two anthropomorphic manipulators (IRB 140 and IRB 1400), a 3-DOF holonomic mobile robot and a 3-DOF robotic platform. The system's robots must perform collaborative task sequences in order to paint objects with diverse geometries chosen by a human operator. Webots is chosen to implement system simulations due to its 3D representation capabilities and physics engine for robot-object contact interactions in order. The goal of simulation is to evaluate the effects of the communication strategy in overall system performance.