| author | title | date |
|---|---|---|
Behzad Samadi |
Virtual Prototyping |
April 9, 2014 |
Behzad Samadi, PhD
Mechatronics3D
DIPECC 2014, Dubai
April 9, 2014
NXT-G
LEGO^®^
Razyeh Mousavi
It was very exciting at first but I had more than 40 students and only 3 sets of LEGO Mindstorms!
We realized that before making the robot, there were a lot of things that we needed to learn.
- This virtual robot is interesting but what if I want to build another robot?
- How hard is it to build a virtual robot?
- Writing the dynamic equations
- Converting the equations to ordinary differential equations
- Creating a signal flow model e.g. a Simulink model
- Building a virtual robot seems to be different from building a real robot
What if we had a set of virtual LEGO parts and we could build a robot with them?
We made one!
Alborz Gharraee
- The connections between components are physical connections like position, voltage, flow,...
- Acausal modeling is very similar to building a real system
- Model Exchange, Co-Simulation, Product Lifecycle Management
- There are over 35 Tools supporting FMI
Courtesy of ITAE
from engineering.com
Expensive, time consuming, not reliable
Saves resources, time, money
Courtesy of ITAE
- Easy: build the model and design the controller in a high level environment like MATLAB\Simulink
- Hard: rewrite your code for the hardware controller on the physical prototype
- Problem: rewriting the code is time consuming and error prone
- The controller and the virtual prototype are two different applications.
- The applications "talk" to each other using a "middleware".
- The controller doesn't see the difference between the virtual and physical prototypes.
- Software engineers do not have to wait for the hardware!
- Using the same language to exchange messages
- Components can be replaced without affecting the whole system
- a set of software libraries and tools
- from drivers to state-of-the-art algorithms
- powerful developer tools
- open source.
Clearpath Robotics, Waterloo, Ontario
[](./media/ROS/MoveIt!Montage 2013.mp4)
motion, line, face, feature detection
