A Co-simulation Framework for Design, Test and Parameter Optimization of Robotic Systems
Mohammed Ahmed, Yong-Ho Yoo, Frank Kirchner
In Proceedings for the joint conference of ISR 2010 (41st Internationel Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics), (ISR-2010), 07.6.-09.6.2010, Munich, VDE Verlag GmbH, Jun/2010.

Zusammenfassung (Abstract) :

This paper presents a precise co-simulation framework to be utilized in the design, test and parameter optimization of different components of the robotic system. The proposed framework is successfully used to connect a robot microkernel operating system named M.O.N.S.T.E.R [1] that is used for the design of system behaviours, MATLAB/Simulink for the design of actuator controllers, and Adams/View for the design of the robot kinematics and dynamics.



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