ABSTRACT
JÜRGEN ROSSMANN, MICHAEL SCHLUSE, MALTE RAST, and LINUS ATORF
Institute for Man-Machine Interaction, RWTH Aachen University, Germany
10.1 What is E-Robotics?................................................................... 351 10.1.1 Simulation-Based Engineering Processes ................... 352 10.1.2 Simulation-Based Engineering Methods ..................... 353 10.2 The Virtual Testbed Concept ...................................................... 355 10.2.1 From Simulation to Virtual Testbeds ........................... 355 10.2.2 A Mathematical View on Virtual Testbeds .................. 356 10.3 Simulation-Based X ................................................................... 358 10.3.1 Simulation-Based Optimization .................................. 358 10.3.2 Simulation-Based Reasoning ...................................... 359 10.3.3 Simulation-Based Control ........................................... 359 10.4.3D Simulation Technology for eRobotics ........................... 363 10.4.1 Requirements ............................................................... 361
10.4.2 State of the Art ............................................................. 362 10.4.3 A New 3D Simulation Infrastructure for eRobotics ..... 364 10.5 Key Aspects for 3D Simulation ................................................. 367 10.5.1 Advanced Modeling Techniques .................................. 367 10.5.2 Multidisciplinary Simulation ....................................... 369 10.5.3 Advanced Rendering Techniques ................................. 373 10.5.4 Advanced Sensor Simulation ....................................... 376 10.6 Next Generation eRobotics Applications ................................... 376 10.6.1 Development of Space Robots ..................................... 377 10.6.2 Localization of Forest Machines .................................. 377 10.6.3 Program and Control Robot Manipulators ................... 378 10.7 Conclusion ................................................................................. 380 Acknowledgements ............................................................................... 381 Keywords .............................................................................................. 382 References ............................................................................................. 382
Robotic applications are complex, require hardware prototypes, and thus are usually a costly endeavor. The research field of eRobotics has been established recently in order to cope with the inherent complexity, facilitate the development, and significantly cut down the cost of advanced robotics and mechatronics development. The objective is to effectively use electronic media-hence the “e” at the beginning of the term-to achieve the best possible advancements in the development of the robots respective fields of use. The aim of developments in eRobotics is to provide a comprehensive software environment to address the robotics-related issues for next generation robotic applications.
