论文标题
使用ROS2进行机器人手臂操作的模拟软件的系统比较
A Systematic Comparison of Simulation Software for Robotic Arm Manipulation using ROS2
论文作者
论文摘要
仿真软件是用于机器人研究的强大工具，允许对现实世界的虚拟表示。但是，随着机器人操作系统（ROS）的兴起，文献中尚未比较一些新的仿真软件包。本文提出了与ROS 2版兼容的模拟软件的系统综述。重点是机器人ARM操纵中的研究，因为它代表了行业中最常使用的机器人应用及其对数字双胞胎的未来适用性。为此，我们在相似的参数，任务和场景下基准基准仿真软件，并根据其长期操作的能力，成功完成任务，可重复性和资源使用情况的能力进行评估。我们发现总体上没有最佳的仿真软件，但是两个模拟软件包（点火和网络机）的稳定性高于其他模拟软件，而在资源使用情况下，Pybullet和Coppeliasim的消耗量要比其竞争对手少。
Simulation software is a powerful tool for robotics research, allowing the virtual representation of the real world. However with the rise of the Robot Operating System (ROS), there are new simulation software packages that have not been compared within the literature. This paper proposes a systematic review of simulation software that are compatible with ROS version 2. The focus is research in robotics arm manipulation as it represents the most often used robotic application in industry and their future applicability to digital twins. For this, we thus benchmark simulation software under similar parameters, tasks and scenarios, and evaluate them in terms of their capability for long-term operations, success at completing a task, repeatability and resource usage. We find that there is no best simulation software overall, but two simulation packages (Ignition and Webots) have higher stability than other while, in terms of resources usage, PyBullet and Coppeliasim consume less than their competitors.
