TY - GEN
T1 - Real-time Simulation System for Teleoperated Mobile Robots using V-REP
AU - Pinrath, Nattawat
AU - Matsuhira, Nobuto
N1 - Publisher Copyright:
© 2019 Copyright held by the owner/author(s).
PY - 2019/7/2
Y1 - 2019/7/2
N2 - Currently, with the growth of powerful computers empowering fast computations, dynamics simulation in robotics is no longer expected to be employed solely as an offline computational tool. When using a teleoperation control system, understanding the current position and orientation of the robot is difficult for the controller. In this paper, we explore a real-time simulation system that can be used to provide the current position and orientation of the robot based on the robot operating system (ROS). The simulation software called virtual robotics experimentation platform (V-REP) receives current orientation information from an inertial measurement unit sensor and current position from the ROS package, which allows the V-REP simulation to display the position and orientation of the robot in real time.
AB - Currently, with the growth of powerful computers empowering fast computations, dynamics simulation in robotics is no longer expected to be employed solely as an offline computational tool. When using a teleoperation control system, understanding the current position and orientation of the robot is difficult for the controller. In this paper, we explore a real-time simulation system that can be used to provide the current position and orientation of the robot based on the robot operating system (ROS). The simulation software called virtual robotics experimentation platform (V-REP) receives current orientation information from an inertial measurement unit sensor and current position from the ROS package, which allows the V-REP simulation to display the position and orientation of the robot in real time.
KW - Real-time simulation
KW - Robotic simulation
KW - Teleoperation
UR - http://www.scopus.com/inward/record.url?scp=85079781104&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85079781104&partnerID=8YFLogxK
U2 - 10.1145/3352593.3352598
DO - 10.1145/3352593.3352598
M3 - Conference contribution
AN - SCOPUS:85079781104
T3 - ACM International Conference Proceeding Series
BT - Proceedings of the Advances in Robotics 2019, AIR 2019
PB - Association for Computing Machinery
T2 - 2019 Conference on Advances in Robotics, AIR 2019
Y2 - 2 July 2019 through 6 July 2019
ER -