![]() Simulated results show that, with artificial noise added, the solution presented can detect aerospace structures to an accuracy of 40 mm or less, depending on the amount of noise present, while physical aerospace inspired structures can be traced with a consistent accuracy of 5 mm regardless of the cardinal direction. The effectiveness of the system is demonstrated via simulated and physical experiments carried out on both acute and obtuse edges, as well as typical aerospace structures, made from a variety of materials, with dimensions ranging from 400 mm to 600 mm. A combination of physical experiments on the setup and more complex simulated experiments were conducted. The proposed system can visually detect and trace various edges, with a wide array of degrees, to an accuracy of 15 mm or less, without the need for any previous information, setup or planning. This work proposes a novel solution for detecting and tracing spatially varying edges of large manufacturing workpieces, using a consumer grade RGB depth camera, with only a partial view of the workpiece and without prior knowledge. ![]() We find that there is no best simulation software overall, but two simulation packages (Ignition and Webots) have higher stability than other while, in terms of resources usage, PyBullet and Coppeliasim consume less than their competitors. For this, we thus benchmark simulation software under similar parameters, tasks and scenarios, and evaluate them in terms of their capability for long-term operations, success at completing a task, repeatability and resource usage. The focus is research in robotics arm manipulation as it represents the most often used robotic application in industry and their future applicability to digital twins. This paper proposes a systematic review of simulation software that are compatible with ROS version 2. However with the rise of the Robot Operating System (ROS), there are new simulation software packages that have not been compared within the literature. Simulation software is a powerful tool for robotics research, allowing the virtual representation of the real world.
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