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

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.

[1]  Óscar Reinoso,et al.  Real-time collaboration of virtual laboratories through the Internet , 2009, Comput. Educ..

[2]  Claudio Melchiorri,et al.  Roboticad: An Educational Tool for Robotics , 2008 .

[3]  Gonzalo Farias,et al.  An Integrated Virtual and Remote Control Lab: The Three-Tank System as a Case Study , 2008, Computing in Science & Engineering.

[4]  Rs Roel Pieters,et al.  Visual Servo Control , 2012 .

[5]  Claude Vibet.  Symbolic modeling of robot kinematics and dynamics , 1995, Robotics Auton. Syst..

[6]  Francisco Esquembre,et al.  Easy Java Simulations: a software tool to create scientific simulations in Java , 2004 .

[7]  Stephen M. Smith,et al.  SUSAN—A New Approach to Low Level Image Processing , 1997, International Journal of Computer Vision.

[8]  Seth Hutchinson,et al.  Visual Servo Control Part I: Basic Approaches , 2006 .

[9]  Peter I. Corke,et al.  A robotics toolbox for MATLAB , 1996, IEEE Robotics Autom. Mag..

[10]  S. M. Steve.  SUSAN - a new approach to low level image processing , 1997 .

[11]  Gonzalo Farias,et al.  Development of a Web-Based Control Laboratory for Automation Technicians: The Three-Tank System , 2008, IEEE Transactions on Education.

[12]  Alfonso Urquía Moraleda,et al.  Easy Java Simulations: an Open-Source Tool to Develop Interactive Virtual Laboratories Using MATLAB/Simulink* , 2005 .

[13]  François Chaumette,et al.  Visual servo control. I. Basic approaches , 2006, IEEE Robotics & Automation Magazine.

[14]  Jorge Pomares,et al.  Practical experiences using RobUALab.ejs: a virtual and remote laboratory for Robotics e-learning , 2010 .

[15]  J. Denavit,et al.  A kinematic notation for lower pair mechanisms based on matrices , 1955 .

[16]  Peter K. Allen,et al.  An SVM learning approach to robotic grasping , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[17]  Ieee Robotics,et al.  IEEE robotics & automation magazine , 1994 .

[18]  P. Cochat,et al.  Et al , 2008, Archives de pediatrie : organe officiel de la Societe francaise de pediatrie.

[19]  Jared Jackson.  Microsoft robotics studio: A technical introduction , 2007, IEEE Robotics & Automation Magazine.

[20]  Fernando Torres Medina,et al.  An advanced interactive interface for robotics elearning , 2008, Int. J. Online Eng..

[21]  Richard Gourdeau,et al.  Object-oriented programming for robotic manipulator simulation , 1997, IEEE Robotics Autom. Mag..

[22]  Éric Marchand,et al.  ViSP for visual servoing: a generic software platform with a wide class of robot control skills , 2005, IEEE Robotics & Automation Magazine.

[23]  Mo M. Jamshidi,et al.  ROBO_SIM: A robotics simulation environment on personal computers , 1992, Robotics Auton. Syst..

[24]  Andrés Jaramillo-Botero,et al.  ROBOMOSP , 2006, IEEE Robotics & Automation Magazine.

[25]  Robert Babuska,et al.  MATLAB DESIGN ENVIRONMENT FOR ROBOTIC MANIPULATORS , 2005 .