Simulation-based Robot Verification Tool (SRVT)

Logo

Main partner/Developer Tool developer

Tool Link Link to website/github (URL) with more detailed information (optional)

Tool partners Non-owner organizations associated with the tool (partners/distributors)

Improved/Developed Tool Select if it is a new tool (developed) or an improved tool

Tool description A detailed description of the tool

SRVT is a testing tool system that enables industrial robots to be verificated&validated in simulation environments. Using the Robot Operating System (ROS) as its infrastructure, SRVT uses Gazebo to create the simulation environment, MoveIt for robot motion trajectory planning, and the ROS Smach library as the finite state machine system. SRVT is formed by bringing these components into a system.
These are components for SRVT:
ROS: The Robot Operating System (ROS) is a set of software libraries and tools that help you build robot applications ("https://www.ros.org.
Gazebo: Gazebo, which is the most widely used simulation engine in ROS (http://gazebosim.org).
MoveIt: MoveIt is a planning framework where we transfer the planned trajectory into the SRVT system and use it (https://moveit.ros.org)

Technical toolchains Technical connection of tools with their supporting tools. Example: for running a specific tool, you need to run/install this other tool(s) (e.g., CHESS-FLA CHESS, MoMuT Enterprise Architect, etc)

Description of the improvements Description of the improvements and novelties added during VALU3S/Baseline

The robotic system (UC11) used before VALU3S used a C#-based manual control system and had to be constantly observed by an operator. In addition, the task completion times and working processes of the robotic system were not optimized.

With SRVT, optimization of this robotic system and improvements in task completion times are realized. With the tests performed at SRVT, the most ideal trajectory planning algorithms for this robotic system were determined and it was observed that the tasks were completed in 30-40% shorter time with this algorithm. In addition, the safe implementation of the trajectories obtained with the help of Moveit by the robot has been observed in Gazebo.

Improvement date

New Improvements To be filled in the future (after VALU3S)

References Related papers, journals, articles, and so on

Yayan, U., & Erdogmus, A. Endüstriyel Robot Hareket Planlama Algoritmaları Performans Karşılaştırması. Journal of Science, Technology and Engineering Research, 2(2), 31-45.

Relationships with other web-repo artefacts

Related V&V Methods A tool could be based on several V&V methods.

Standards A method can be linked with standards.

Use cases Use cases where the tool has been used

Functional Toolchain Functional connection of tools for the implementation of a specific evaluation scenario/workflow. Example: the output of one tool can be used by the other tool(s) in order to obtain a different information (e.g., CIROS FERAL, MARVER >-> SRVT, etc)

Improvement Classification

Evaluation Criteria for Safety, Cybersecurity, and Privacy (SCP)

Evaluation Criteria for V&V Processes

Open source - Goals

open Source

Goals Tool goals

Contents

There are currently no items in this folder.