Simulation Based Functional and Performance Evaluation of Robot Components and Modules
Simulation Based Functional and Performance Evaluation of Robot Components and Modules
复制标题
基于仿真的机器人组件和模块的功能和性能评估
DOI：
10.1109/icisa.2011.5772438
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
Hong
中科院分区：
文献类型：
--
作者：
Jung;T. Kuc;Jong;Hong
本文提出了一种基于仿真的测试方法，用于机器人组件和模块的功能和性能评估。在所提出的测试方法中，功能测试程序包括单元、状态和接口测试，这些测试评估是否满足机器人组件1或模块2的功能规范。在性能测试方面，仿真环境为机器人模块的性能测试提供了一个缩小的虚拟工作空间，其中包含符合真实的机器人部件详细性能规格的虚拟设备。该方法可用于机器人模块和部件的可靠性验证，在真实的应用中使用之前防止故障。此外，开发的测试系统可以扩展到支持各种测试条件，这意味着可能节省额外的测试成本。
This paper presents a simulation based test method for functional and performance evaluation of robotic components and modules. In the proposed test method, function test procedure consists of unit, state, and interface tests which assess if the functional specifications of robot component 1 or module 2 are met. As for performance test, simulation environment provides a down scaled virtual work space for performance test of robot module accommodating virtual devices in conformity with the detailed performance specifications of real robot components. The proposed method can be used for verification of reliability of robot modules and components which prevents faults of them before their usage in real applications. In addition, the developed test system can be extended to support various test conditions implying possible cost saving for additional tests.