Robot simulation physics validation

Authors:
C. Pepper;S. Balakirsky;C. Scrapper
Affiliations:
National Institute of Standards and Technology (NIST), Gaithersburg, MD;National Institute of Standards and Technology (NIST), Gaithersburg, MD;National Institute of Standards and Technology (NIST), Gaithersburg, MD
Venue:
PerMIS '07 Proceedings of the 2007 Workshop on Performance Metrics for Intelligent Systems
Year:
2007

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Abstract

Computer simulation of robot performance is an essential tool for the development of robot software. In order for simulation results to be valid for implementation on real hardware, the accuracy of the simulation model must be verified. If developers use a robot model that is not similar enough to the actual robot, then their results can be meaningless. To ensure the validity of the robot models, NIST proposes standardized test methods that can be easily replicated in both computer simulation and physical form. The actual robot can be tested, and the computer model can be finely tuned to replicate similar performances on equivalent tests. To illustrate this, we have accomplished this task with the Talon Robot on NIST standard test methods.