Simulator

The aim of the simulator is to provide a realistic 3d representation of the robot and feeders so that high level control software and user interfaces can be developed in parallel to the hardware design efforts.

The simulator has the following functions:
Currently this is at the planning stage, the following options are being considered:
  1. Microsoft Robotics Developer Studio
    • Can provide camera and environment rendering as needed
    • Can import collada models from CAD package, with joints set up
    • Could support abstractions for hardware
    • Steep learning curve, may put off attracting more developers
    • MRDS is not usable currently, prototype of a parallel kinematic was highly unstable
  1. Rolling our own with SharpDX
    • More development effort
    • Less complex architecture


Custom simulator notes:
Can use sharpDX to do dx9 rendering for view
PhysX C# wrappers available, can use PhysX to simulate linkages, apply forces
Need to implement trajectory controller