EJS+EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operation

  • Authors:

  • Carlos A. Jara;Francisco A. Candelas;Pablo Gil;Fernando Torres;Francisco Esquembre;Sebastián Dormido

  • Affiliations:

  • Department of Physics, System Engineering and Signal Theory, University of Alicante, San Vicente del Raspeig, Spain;Department of Physics, System Engineering and Signal Theory, University of Alicante, San Vicente del Raspeig, Spain;Department of Physics, System Engineering and Signal Theory, University of Alicante, San Vicente del Raspeig, Spain;Department of Physics, System Engineering and Signal Theory, University of Alicante, San Vicente del Raspeig, Spain;Department of Mathematics, University of Murcia, Murcia, Spain;Department of Computer Science and Automatic Control, UNED University, Madrid, Spain

  • Venue:
  • Robotics and Autonomous Systems
  • Year:
  • 2011

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Abstract

This paper presents an interactive Java software platform which enables users to easily create advanced robotic applications together with Computer Vision processing. This novel tool is composed of two layers: (1) Easy Java Simulations (EJS), an open-source tool which provides support for creating applications with a full 2D/3D interactive graphical interface, and (2) EjsRL, a high-level Java library specifically designed for EJS which provides a complete functional framework for modeling and simulation of arbitrary serial-link manipulators, Computer Vision algorithms and remote operation. The combination of both components sets up a software architecture which contains a high number of functionalities in the same platform to develop complex simulations in Robotics and Computer Vision fields. In addition, the paper shows its successful application to virtual and remote laboratories, web-based resources that enhance the accessibility of experimental setups for education and research.