An application example of Webots in solving control tasks of robotic system
An application example of Webots in solving control tasks of robotic system
- New search for: Mandić, Petar
- New search for: Lazarević, Mihailo
- New search for: Mandić, Petar
- New search for: Lazarević, Mihailo
This paper presents some of the capabilities of Webots-a robotics simulation software. Using Webots as the development environment one can obtain model, program as well as simulate robots. First, key features and components of Webots are described and then it is presented how to construct a model of robotic system in it. Then, a control system is designed based on mathematical model of robot system in order to solve the problem of positioning of the end-effector. Results obtained in Webots environments are compared with those from Matlab/Simulink, so one can confirm the control system design procedure and accuracy of physics simulation. An example of more complex task that the robot manipulator needs to execute is given in the remainder of this paper. It is a so called Tower of Hanoi problem, where is particularly solved the inverse kinematics problem in detail. A part of C programming code which has been used for controlling the robot in Webots is explained at the end.
Document information
An application example of Webots in solving control tasks of robotic system
2013-01-01
FME Transactions (2013) 41(2):153-162 ; ISSN: 1451-2092
Article (Journal)
Electronic Resource
English
| DDC: | 629 |
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