The Role of 3D Simulation in the Advanced Robotic Design, Test and Control

摘要

In this paper we presented an overview about modern visualization approaches in the field of telerobotics and interactive robotics simulation. We have made a comparison presenting the advantages and disadvantages between the (binocular) anaglyph and the (monocular) motion stereo methods in our robot simulator application. At this time, our team in the Mobile- and Microrobotics Laboratory is in the very center of experimenting with some of the great amount of available devices supporting advanced monocular and binocular 3D techniques to find one that is the nearest to our requirements. From this aspect we presented the RobotMAX simulator, which is currently under development at our laboratory: it will integrate robotics design (advanced visualization, driving mechanisms- and kinematical structure planning, sensor layout optimalization, etc.) and interactive control with the effective hardware-in-the-loop testing methodology into a modern simulation framework. Our mobile robot simulation project has another objective also: RobotMAX is aimed be a new research and education platform for the next generation of students in the field of mobile robotics and 3D imaging in our department at BUTE. 59