Embedded Files
Introdution to v-rep
Introdution to v-rep
What is it?
V-REP (the Virtual Robot Experimentation Platform) is a 3D robot simulation software with an integrated development environment that allows you to model, edit, program, and simulate any robot or robotic system (e.g., sensors, mechanisms, etc.).
What can it do?
It offers a multitude of functions that can be easily integrated and combined through an exhaustive API and script functionality. V-REP supports 2 different physics engines (Bullet and ODE), handling of the inverse and forward kinematics of any type of mechanism, proximity sensor simulation, camera sensor simulation with many built-in image processing filters, path planning, minimum mesh-mesh distance calculation, surface cutting simulation, graphing, etc.
Typical applications?
Fast prototyping and verification
Controller development
Hardware control
Simulation of factory automation systems
Safety monitoring
Product presentation etc.
Scene Objects
Shapes and Dummies
Shapes:
Radom mesh, convex mesh, primitive mesh, or heightfield mesh
Can be grouped or ungrouped
Optimized for fast calculations
Dummies:
Auxiliary references frame & helper object
Joints and Force/Torque Sensors
Joints
Revolute-type • Prismatic-type • Screw-type • Spherical-type
Velocity, position, spring/ damper or force controlled
Behavior is controlled by physical engine
Easy to do inverse kinematics
Force/Torque Sensors
Measures force and torque
Can conditionally break apart
Used to ‘glue’ rigid parts together
Example
Example
Figure 1: Cuboid, Prismatic joint and Cylinder are in straight forward.
Figure 2: Motor is working
Short Illustration
Short Illustration
New video.mp4Google Sites
Report abuse