platerforme of the simulation for the validation of a software architecture and materielle of a robot

摘要

This simulation platform (110) comprises a calculation means suitable for executing the instructions of a simulation program (300) including: - a module of the configuration of an environment in three dimensions (310); - a simulation module of a response of a sensor of the robot (320, 330); and - a simulation module of a dynamic range of the robot (340). According to one aspect of the invention, the simulation program comprises, in addition, a module of the time scheduling (350) including: - a clock circuit (410) delivering the logical time current; - a diagram of the order (400), to each logical time a set of actions to be carried out; - a - module of an action of the simulation (440) adapted to launch the embodiment of an action of simulation, and - a - module of an action of the reaction of the robot (450), which is adapted to launch the embodiment of an action of the response of the robot.