Intelligent Robotics in 3D Simulation - An eRobotics Approach

Robot manipulators are increasingly employed in dynamic and uncertain environments. Therefore, weak and strong physical interactions with the surrounding operational environment can occur. Managing the complexity related to this trend requires simulation capabilities going far beyond traditional off-line motion planning of robots in free-space. This paper presents a dynamic simulation that addresses this issue. The simulator conveys insight into the accommodation of external forces during physical interaction, since the simulated robots are endowed with force-sensitive and compliance control capabilities. Further, a symbiotic simulation of compliance control enables physical interaction between a human operator and a real position-controlled robot. Our approach builds upon a comprehensive, holistic and versatile coupling of modeling paradigms. It leverages the significance of simulation outcomes by enriching the simulator with realistic robot control techniques. It deepens the understanding of ongoing processes by allowing an overall and customizable view on the robot down to actuators. The results highlight the effectiveness of the eRobotics methodology, which represents the foundation this work is built upon.