Simox: A Robotics Toolbox for Simulation, Motion and Grasp Planning
Simox: A Robotics Toolbox for Simulation, Motion and Grasp Planning
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Simox：用于模拟、运动和抓取规划的机器人工具箱
DOI：
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发表时间：
2012
期刊：
影响因子：
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通讯作者：
G. Sandini
中科院分区：
文献类型：
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作者：
N. Vahrenkamp;M. Kröhnert;Stefan Ulbrich;T. Asfour;G. Metta;R. Dillmann;G. Sandini
在构建复杂的机器人（如移动的机械手或类人机器人）时，软件开发除了硬件设置和机械设计外还发挥着重要作用。必须根据应用解决不同的要求。例如，一个低级别的控制器必须实现实时使用，而任务规划组件将在更高的抽象级别上与机器人交互。因此，开发机器人软件受到性能和鲁棒性等多个约束。
Software development plays a major role besides hardware setup and mechanical design when it comes to building complex robots such as mobile manipulators or humanoids. Different requirements have to be addressed depending on the application. A low-level controller for example must be implemented for realtime use, whereas a task planning component will interact with the robot on a higher abstraction level. Hence, developing robotics software is subject to several constraints such as performance and robustness.