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SimTwo /
SimTwoSimTwo.SimTwo HistoryHide minor edits - Show changes to output Changed line 17 from:
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http://paginas.fe.up.pt/~paco//wiki_uploads/SimTwo.jpg Changed line 17 from:
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http://paginas.fe.up.pt/~paco/public_html/wiki_uploads/SimTwo.jpg Changed line 21 from:
Certain typical joints: hinge, universal and slider(prismatic)are explicitly defined and can be associated with a system of drives and sensors. to:
Certain typical joints: hinge, universal and slider (prismatic) are explicitly defined and can be associated with a system of drives and sensors. Changed lines 31-32 from:
The current version [[ to:
The current version ([[(Attach:)SimTwo.zip]]) ((:attachtime SimTwo.zip:)) can be used to simulate mobile robots, omnidirectional or not, manipulators and is also capable of simulating humanoids. A zeppelin and an AUV models were also created. Changed lines 29-30 from:
* A remote program that communicates via network [[http://paginas.fe.up.pt/~paco//Main/ to:
* A remote program that communicates via network [[http://paginas.fe.up.pt/~paco//Main/ExtUDP.zip | (ExtUDP.zip)]] or serial port with SimTwo. Deleted lines 4-5:
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*Any type of *Lighter than air vehicles with or without propellers for to:
*Any type of robot that can be described as a mixture of rigid bodies connected by hinge or prismatic joints and classical or omnidirectional wheels. *Lighter than air vehicles with or without propellers for propulsion. *Underwater vehicles with thrusters. Changed lines 19-28 from:
The realism of the dynamics implemented in SimTwo is achieved by decomposing the robot in a system of rigid bodies Certain typical joints: hinge The drive system may consist of a DC motor, optionally with reduction gear and controller. Several types of controllers can be used: a PID controller applyed to the position or velocity signals or a state feedback controller. The DC motor model contains several nonlinear elements such as voltage saturation, limited current and Coulomb Friction In addition to the low level control system, SimTwo also offers the possibility to provide *A scripting language, editable and compilable within SimTwo. to:
The realism of the dynamics implemented in SimTwo is achieved by decomposing the robot in a system of rigid bodies, hinge or prismatic joints, optionally actuated by electric motors. The "mechanics" associated with bodies is simulated numerically considering their physical properties: shape, mass and moment of inertia, friction and elasticity. Certain typical joints: hinge, universal and slider(prismatic)are explicitly defined and can be associated with a system of drives and sensors. The drive system may consist of a DC motor, optionally with a gearbox and a controller. Several types of controllers can be used: a PID controller applied to the position or velocity signals or a state feedback controller. The DC motor model contains several nonlinear elements such as voltage saturation, current limitation and Coulomb Friction. In addition to the low level control system, SimTwo also offers the possibility to provide the reference signals to these controllers from a higher level controller implemented by the user. This controller can be implemented using: * A scripting language, editable and compilable within SimTwo. Changed lines 31-37 from:
The current version [[http://paginas.fe.up.pt/~paco//Main/SimTwo.zip |(SimTwo.zip)]] (24/05/2011 16:03) can be used to simulate mobile robots, Bugs and sugestions can be described at [[http O SimTwo uses several "Open Source" libraries: *GLScene - Allows 3D view to:
The current version [[http://paginas.fe.up.pt/~paco//Main/SimTwo.zip |(SimTwo.zip)]] (24/05/2011 16:03) can be used to simulate mobile robots, omnidirectional or not, manipulators and is also capable of simulating humanoids. A zeppelin and an AUV models were also created. O SimTwo uses several Open Source libraries: *GLScene - A OpenGL based 3D visualization library Changed line 37 from:
*Pascal Script - to:
*Pascal Script - To implement a scriptable control system. Changed lines 40-42 from:
*RxLib - to:
*RxLib - Persistence component. Changed line 15 from:
*Any type of land robot that can be described as a mixture of to:
*Any type of land robot that can be described as a mixture of hinge joints and classical or omnidirectional wheels. Changed lines 46-49 from:
[[Documentation]] to:
[[Documentation]] [[Future]] [[Bugs]] [[FAQ]] Changed lines 18-19 from:
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http://paginas.fe.up.pt/~paco//Main/SimTwo.jpg Changed lines 18-19 from:
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[[http://paginas.fe.up.pt/~paco//Main/SimTwo.jpg]]. Changed lines 5-6 from:
SimTwo Presentation to:
(:SimTwo Presentation:) Changed lines 28-31 from:
* A remote program that communicates via network The current version (SimTwo to:
* A remote program that communicates via network [[http://paginas.fe.up.pt/~paco//Main/IPListen.zip | (IPListen.zip)]] or serial port with SimTwo. The current version [[http://paginas.fe.up.pt/~paco//Main/SimTwo.zip |(SimTwo.zip)]] (24/05/2011 16:03) can be used to simulate mobile robots, omnidorectionals or not, manipulators and is now capable of simulating humanoids. A zeppelin model was also created. Changed lines 28-31 from:
* A remote program that communicates via network (IPListen.zip) The current version to:
* A remote program that communicates via network (IPListen.zip) or serial port with SimTwo. The current version (SimTwo.zip) (24/05/2011 16:03) can be used to simulate mobile robots, omnidorectionals or not, manipulators and is now capable of simulating humanoids. A zeppelin model was also created. Changed lines 32-34 from:
Bugs and sugestions can be described at SimTwo Bug Tracker. to:
Bugs and sugestions can be described at [[http://paginas.fe.up.pt/~paco/thebuggenie/index.php |SimTwo Bug Tracker.]] Changed lines 36-41 from:
ODE Pascal Script SynEdit - Implements the script editor. OmniXml - To process XML files. to:
*GLScene - Allows 3D view *ODE - For simulating rigid body dynamics. *Pascal Script - Para implementar, no SimTwo, um sistema de controlo programável *SynEdit - Implements the script editor. *OmniXml - To process XML files. *RxLib - Component package. Changed lines 18-42 from:
to:
The realism of the dynamics implemented in SimTwo is achieved by decomposing the robot in a system of rigid bodies and electric motors. The "mechanics" associated with bodies is simulated numerically considering their physical properties: shape, mass and moment of inertia, friction and elasticity. Certain typical joints: hinge, universal and slider are explicitly defined and can be associated with a system of drives and sensors. The drive system may consist of a DC motor, optionally with reduction gear and controller. Several types of controllers can be used: a PID controller applyed to the position or velocity signals or a state feedback controller. The DC motor model contains several nonlinear elements such as voltage saturation, limited current and Coulomb Friction In addition to the low level control system, SimTwo also offers the possibility to provide the reference signals to these controllers from a higher level controller implemented by the user. This contoller can be implemented using: *A scripting language, editable and compilable within SimTwo. * A remote program that communicates via network (IPListen.zip)(: ------FALTA O LINK ----- :) or serial port with SimTwo. The current version (SimTwo.zip) (24/05/2011 16:03)(: ------FALTA O LINK ----- :) can be used to simulate mobile robots, omnidorectionals or not, manipulators and is now capable of simulating humanoids. A zeppelin model was also created. Bugs and sugestions can be described at SimTwo Bug Tracker. [[http://paginas.fe.up.pt/~paco/thebuggenie/index.php | SimTwo Bug Tracker. ]] O SimTwo uses several "Open Source" libraries: GLScene - Allows 3D view ODE - For simulating rigid body dynamics. Pascal Script - Para implementar, no SimTwo, um sistema de controlo programável SynEdit - Implements the script editor. OmniXml - To process XML files. RxLib - Component package. Added line 18:
The realism of the dynamics implemented in SimTwo is achieved by decomposing the robot in a system of rigid bodies and electric motors. Changed lines 16-17 from:
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*Lighter than air vehicles with or without propellers for propulsion Changed lines 5-16 from:
SimTwo to:
SimTwo Presentation SimTwo is a realistic simulator where several types of robots can be implemented. * Mobile Robots with different configurations **Differential **With omnidirectional wheels *Manipulators *Quadruped *Humanoid *Any type of land robot that can be described as a mixture of swivel joints and classical or omnidirectional wheels. Added lines 1-5:
(:notitle:) !! %blue% SimTwo - A Realistic Simulator for Robotics. SimTwo Presentation |