セッションID: 1P2-O04
会議情報
主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2017
開催日: 2017/05/10 - 2017/05/13
ロボットシミュレータによる標準性能試験法に関する考察
詳細
主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2017
開催日: 2017/05/10 - 2017/05/13
Aiming at the realization of the simulation of the standard test method (STM) for disaster response robot, this paper discussed about the evaluation of a robot simulator model in GAZEBO. A crawler robot with sub-crawlers was modeled and simulated in Gazebo. The experimentation was performed in order to compare the simulation model for the properties of the robot at moving over the STM field. The results showed the equal to the characteristic of the real robot. On the other hand, by tuning a parameter of rotating shaft for sub-crawler, the influence on the main body attitude angle was reduced.
