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:
- Render a 3D view of the robot
- Render views from the various cameras used
- Allow the robot joint positions to be commanded
- Provide simulated sensor values for the various subassemblies
- Help us define the required interfaces before hardware is ready
Currently this is at the planning stage, the following options are being considered:
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
- 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