Realistic simulation of robotic grasping tasks: review and application

摘要

Robots have developed into highly capable machines that currently constitute an integral part of many manufacturing environments. The use of simulation platforms for designing and validating robotic processes are becoming increasingly important since they may lead to the faster design and commissioning of robotic solutions, without disrupting production for long periods of time. In this paper, two simulation platforms are reviewed in the context of relatively simple robotic grasping tasks with the goal to explore how accurate and realistic the resulting models can be. The main expectations regarding the future and further evolution of robotic simulation platforms are outlined.