Article | Proceedings of the 12th International Modelica Conference, Prague, Czech Republic, May 15-17, 2017 | Using Modelica for advanced Multi-Body modelling in 3D graphical robotic simulators Linköping University Electronic Press Conference Proceedings
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Title:
Using Modelica for advanced Multi-Body modelling in 3D graphical robotic simulators
Author:
Gianluca Bardaro: Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy Luca Bascetta: Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy Francesco Casella: Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy Matteo Matteucci: Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy
DOI:
10.3384/ecp17132887
Download:
Full text (pdf)
Year:
2017
Conference:
Proceedings of the 12th International Modelica Conference, Prague, Czech Republic, May 15-17, 2017
Issue:
132
Article no.:
097
Pages:
887-894
No. of pages:
8
Publication type:
Abstract and Fulltext
Published:
2017-07-04
ISBN:
978-91-7685-575-1
Series:
Linköping Electronic Conference Proceedings
ISSN (print):
1650-3686
ISSN (online):
1650-3740
Publisher:
Linköping University Electronic Press, Linköpings universitet


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This paper describes a framework to extend the 3D robotic simulation environment Gazebo, and similar ones, with enhanced, tailor-made, multi-body dynamics specified in the Modelica language. The body-to-body interaction models are written in Modelica, but they use the sophisticated collision detection capabilities of the Gazebo engine. This contribution is a first step toward the simulation of complex robotics systems integrating detailed physics modelling and realistic sensors such as lidar and cameras. A proof-of-concept implementation is described in the paper integrating Gazebo collider and the Modelica MultiBody library, and the results obtained when simulating the interaction of an elastic sphere with a rigid plane are shown.

Keywords: Multi-Body Dynamics, 3D Robotic Simulators, Autonomous Robotics, Autonomous Vehicles

Proceedings of the 12th International Modelica Conference, Prague, Czech Republic, May 15-17, 2017

Author:
Gianluca Bardaro, Luca Bascetta, Francesco Casella, Matteo Matteucci
Title:
Using Modelica for advanced Multi-Body modelling in 3D graphical robotic simulators
DOI:
http://dx.doi.org/10.3384/ecp17132887
References:

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Proceedings of the 12th International Modelica Conference, Prague, Czech Republic, May 15-17, 2017

Author:
Gianluca Bardaro, Luca Bascetta, Francesco Casella, Matteo Matteucci
Title:
Using Modelica for advanced Multi-Body modelling in 3D graphical robotic simulators
DOI:
https://doi.org10.3384/ecp17132887
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