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The utilization of simulation capabilities in the development process of robotic systems is already known as one standard procedure for predicting complex system behavior in a time- and cost efficient manner. eRobotics join multiple process simulation components to build "Virtual Testbeds" to provide a comprehensive tool chain and thus a holistic development. VTB may represent "mental models" of robotic systems and their environment. Therefore, they allow the development of control schemes and directly transfer simulation results for Simulation-based Control for implementing intelligent robot controls. Using Simulation-based Support, the VTBs support the ease of use of robotic systems and also the operators in their decisions. Offering an additional abstraction layer for the user, virtual representations of the robot and its environment are used to intuitively control and maneuver intelligent robotic systems. Thus, Simulation-based Control and Simulation-based Support complement each other and are promising development tools for robotic systems, individual parts thereof as well as systems in their entirety. In our contribution, we present the concepts of SbC and SbS in more detail, by examples of several complex robotic systems such as a Motion Simulator, lightweight robots and a mobile Centaur-like teleoperated robot.

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In order to examine secure ways to perform autonomous satellite servicing applications, this paper provides an approach for close-range motion estimation for rendezvous and docking scenarios. A stereo-camera based method is presented, which generates estimates of the unperturbed motion performed by a completely uncooperative target. No a-priori knowledge about the target has to be provided to accomplish the motion estimation task. A state of the art simulation system is utilized. It provides rigid body dynamics as well as realistic lighting conditions and noise models for the sensor simulation and thus enables the setup of virtual testbeds. Two different satellite models were used to verify the functionality and accuracy of the approach described in this paper. Two KUKA LWRs were used to actuate a model of a Galileo satellite and a stereo-camera rig. This way the method was verified in a physical environment, as well.