Unity3D-MatLab Simulator in Real Time for Robotics Applications

Andaluz, Víctor H.; Chicaiza, Fernando A.; Gallardo, Cristian; Quevedo, Washington X.; Varela, José; Sánchez, Jorge Sanjurjo; Arteaga, Oscar

doi:10.1007/978-3-319-40621-3_19

Cited by 45 publications

(17 citation statements)

References 11 publications

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“…Based on this transmitted information, the positions and orientations of all connected parts within the CAD model are recalculated. These recalculated data are streamed back to the 3DDE which enables a full interactive representation of CAD models in 3DDE (Andaluz et al, 2016). However, by connecting a 3DDE to a CAD system the real-time streaming between these tools is indispensable.…”

Section: File Formatmentioning

confidence: 99%

Challenges of CAD conversion to 3D development environments with respect to kinematic dependencies

Braun¹,

Sliwinski²,

Hinckeldeyn³

et al. 2021

Linköping Electronic Conference Proceedings

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Due to the increasing utilization of 3D development environments for industrial use cases by emerging topics like virtual reality, new challenges in the conversion of computer-aided-design (CAD) models to 3D models have become visible. Particularly, the conversion of the kinematic constraints turns out to be complex and requires extensive manual efforts. This paper discusses these challenges with a focus on the problems in the conversion of kinematic constraints. Further, a new approach is proposed and validated regarding the automated conversion of the kinematic constraints of an exemplary CAD model. Thereby, this work contributes to an accelerated and simplified development process of industrial applications within 3D development environments.

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Section: File Formatmentioning

confidence: 99%

Challenges of CAD conversion to 3D development environments with respect to kinematic dependencies

Braun¹,

Sliwinski²,

Hinckeldeyn³

et al. 2021

Linköping Electronic Conference Proceedings

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“…Es posible usar de múltiples maneras los algoritmos de control de robots, como es por ejemplo combinar Unity3D y Matlab para hacer un seguimiento de rutas [2], el cual utiliza memoria compartida entre ambos.…”

Section: Simulación En Unity3dunclassified

Control de la mano Allegro usando smartphones

Lillo¹,

Méndez²,

Torres³

et al. 2020

Actas De Las XXXIX Jornadas De Automática, Badajoz, 5-7 De Septiembre De 2018

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ResumenEste artículo presenta un entorno multiplataforma basado en unity3D para la virtualización de una mano robótica. La razón por la que se usa Unity3D es que, en general los entornos virtuales para las manos robóticas están limitados al uso de ordenadores y de software propietario. Además, la arquitectura usada en el sistema permite la conexión con un servidor con acceso a los nodos de ROS, que puede ser configurado para el uso de una mano robótica real o simulada. El sistema presentado permite realizar el control en tiempo real y recibir el feedback de los movimientos de la mano, permitiendo a varios usuarios realizar la supervisión de los movimientos de ésta. El sistema ha sido probado usando la mano robótica de cuatro dedos Allegro y ha sido controlada usado diferentes dispositivos Android y iOS.Palabras clave: Realidad virtual, Allegro, ROS, Unity3D INTRODUCCIÓNHace algunos años, la mejor manera de simular y controlar un robot era usando ordenadores. Sin embargo, los smartphones pueden actualmente realizar estas dos operaciones. Estos dispositivos han mejorado mucho durante la última década: Tienen una mayor memoria RAM, mayor espacio de almacenamiento, mejores procesadores, mayor duración de las baterías y es más fácil desarrollar software para ellos. Dependiendo del caso puede ser mejor usar dispositivos telefónicos para el control u ordenadores. Aunque los ordenadores continúan teniendo una mayor capacidad de cómputo, los Smartphones tienen algunos puntos fuertes: son más ligeros, no necesitan estar conectados a la red eléctrica, es más sencillo poder usarlos en diferentes entornos. Existen algunos artículos en los que se expone el uso de dispositivos telefónicos para realizar la teleoperación de un sistema robótico, como es el caso de [4] donde se expone el uso de un dispositivo iOS para la interacción hombre-robot .

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“…In fact, Unity has been used to develop simulators for other similar applications, like connected vehicles 22,23,68 and remote vehicle piloting. 24 It is also used to simulated intelligent agents, 25 robotics, 26 some medical application, 27,28 and much more. [29][30][31] The contribution of the article is easy to use and customizable UAV simulator called UTSim.…”

Section: Introductionmentioning

confidence: 99%

UTSim: A framework and simulator for UAV air traffic integration, control, and communication

Al-Mousa

Sababha

Al-Madi

et al. 2019

International Journal of Advanced Robotic Systems

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The interest in unmanned systems especially unmanned aerial vehicle is continuously increasing. Unmanned aerial vehicles started to become of great benefit in many different fields. It is anticipated that unmanned aerial vehicles will soon become a main component of the future urban air traffic. The integration of unmanned aerial vehicles within existing air traffic environments has started getting the attention of researchers. Integrating unmanned systems in the real-world urban air traffic requires the development of tools and simulators to enable researchers in their ongoing efforts. In this article, a simulator called UTSim is introduced. The proposed simulator is built using the Unity platform. UTSim is capable of simulating unmanned aerial vehicle physical specification, navigation, control, communication, sensing and avoidance in environments with static and moving objects. The simulator enables studying and exploring several unmanned aerial vehicle air traffic integration issues like sense and avoid, communication protocols, navigation algorithms, and much more. UTSim is designed and developed to be easily used. The user can specify the properties of the environment, the number and types of unmanned aerial vehicles in the environment, and specify the algorithm to be used for path planning and collision avoidance. The simulator outputs a log file with a lot of useful information such as the number of sent and received messages, the number of detected objects and collided unmanned aerial vehicles. Three scenarios have been implemented in this article to present the capabilities of UTSim and to illustrate how it can benefit researchers in the field of integrating unmanned aerial vehicles in urban air traffic.

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Unity3D-MatLab Simulator in Real Time for Robotics Applications

Cited by 45 publications

References 11 publications

Challenges of CAD conversion to 3D development environments with respect to kinematic dependencies

Challenges of CAD conversion to 3D development environments with respect to kinematic dependencies

Control de la mano Allegro usando smartphones

UTSim: A framework and simulator for UAV air traffic integration, control, and communication

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