A Co-simulation Framework for Design, Test and Parameter Optimization of Robotic Systems

Mohammed Ahmed, Yong-Ho Yoo, Frank Kirchner

In: Proceedings for the joint conference of ISR 2010 (41st Internationel Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics). International Symposium on Robotics (ISR-2010) June 7-9 Munich Germany VDE Verlag GmbH 6/2010.


This paper presents a precise co-simulation framework to be utilized in the design, test and parameter optimization of different components of the robotic system. The proposed framework is successfully used to connect a robot microkernel operating system named M.O.N.S.T.E.R [1] that is used for the design of system behaviours, MATLAB/Simulink for the design of actuator controllers, and Adams/View for the design of the robot kinematics and dynamics.

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence