Design of an Integrated Robot Simulator for Learning Applications

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Design of an Integrated Robot Simulator for
Learning Applications

• Brendon Wilson
• April 15th, 1999

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Outline

• Introduction
• Design Tools and Techniques
• Overview of Simulation Architecture
• Feature Set
• Demonstration
• The Future of REMOTE
• Summary
• Questions

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Introduction

• Scope of REMOTE project
• Remote experimentation for tele-learning
• Prime audience ENSC 489 students
• Target experiment Scorbot ER-III
• Scope of Thesis
• Simulation platform for Scorbot
• Flexible and maintainable architecture for future
  additions

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Design Tools and Techniques

• Design Patterns
• Provide abstractions to maintain flexibility
• Ready-made solutions
• Creational, structural, or behavioral
• Unified Modeling Language
• Documentation of design
• Java
• Implementation language
• Platform independent

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Overview of Simulation Architecture
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Solution to Typical Problem

• File Parsers for Simulation Engine
• Responsible for parsing 3D models, robot
  configuration, simulation files
• Should be replaceable without changing core
  application
• Program to interface not implementation
• Externally configurable

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UML for Strategy Design Pattern
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Sample Implementation Detail
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Feature Set

• Re-configurable robot simulation
• configure model using Denavit-Hartenberg
  parameters
• replaceable inverse kinematics and interpolation
  modules
• Replaceable Architecture Components
• File Parsers 3D Models, Simulation Language,
  Robot Configuration Language
• Full Internationalization
• Images, error messages, menus

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Demonstration
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The Future of REMOTE

• Integration with REMOTE robot server
• Integration on new Java3D Loaders
• Simulation of multiple robots
• Possibilities for manipulators
• CAD/CAM machinery
• General Inverse Kinematics Engine
• Additions to the user interface
• Other possible applications?

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Summary

• Functional Scorbot simulator ready for
  integration with remote-experiment server
• Most functions of simulation engine replaceable
  without alterations to existing code base
• Simulation architecture simple enough that new
  features can be added without major overhaul of
  existing code

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Questions