A new approach to 3D simulation technology as enabling technology for eROBOTICS

摘要

The use of simulation technology is well known in the field of engineering. It is very common for engineers e.g. to use block oriented simulation systems to develop controllers or to use FEM analysis tools to test and verify component layouts. By contrast, so far the use of 3D simulation technology based on kinematics, rigid body or sensor simulation seems to be limited to only a few specific application areas like robotics. Yet, 3D simulation technology has the potential to evolve from a support tool to a core engineering technology acting as a new focal point in engineering processes. Here, it is the goal of eR-obotics to introduce a continuous and systematic computer support into the entire lifecycle of complex systems, where the "computer support" is provided by 3D simulation technology. This requires the development of new architectures for 3D simulation frameworks, setting new benchmarks in performance, flexibility, modularity, integration capabilities and realism. The frameworks also have to close the gap between virtual and real worlds, allowing for smooth bidirectional transitions between them. New approaches of "Virtual Testbeds" and "Simulation-based Control" provide the conceptual foundation in this process. This contribution introduces the basic concepts of eRobotics, summarizes new requirements on 3D simulation technology and introduces a new reference implementation that meets the formulated requirements.