A robot plugin for the commercial process simulation Visual Components.
The plugin adds the capability of path planning, collision avoidance, and soft real-time motion control.
The easy-to-use high-level python interface in the simulation GUI allows access to the low-level controller.
A use-case was implemented for speed-and-separation monitoring to interrupt the current robot motion at the human presence: https://youtu.be/zcMzQt0ByGs
provides access from the highlevel Python programming API to the low-level infrastructure
For convenient robot operating, the MotionPlanningManager organizes the motion in the simulated scene. The plugin is usable with one or multiple robots (tested with 4 simultanous robots). At each simulation run, the robots are instantiated, and the 3D scene is passed to perform path planning and collision avoidance on the current simulation layout. A motion request between a pair of task frames is managed at run-time by the MotionPlanningManager for each partial movement of a robot task.
is used to get full access to the simulation scene, the properties of a component and the user-interface.
updates the robot’s joint angles at each timestep.
slices a trajectory into time-based steps, that are executed sequentially by the RobotController.
Robot specific parameters such as the 3D-model of the robotic manipulator, upper and lower joint limits, or the robot position in the simulated world are stored and used from the data structure of the RobotParameter class.
