Simulation-Based Control and Simulation-Based Support in eRobotics Applications


Article Preview

The utilization of simulation capabilities in the development process of robotic systems is already known as one standard procedure for predicting complex system behavior in a time- and cost efficient manner. eRobotics join multiple process simulation components to build "Virtual Testbeds" to provide a comprehensive tool chain and thus a holistic development. VTB may represent "mental models" of robotic systems and their environment. Therefore, they allow the development of control schemes and directly transfer simulation results for Simulation-based Control for implementing intelligent robot controls. Using Simulation-based Support, the VTBs support the ease of use of robotic systems and also the operators in their decisions. Offering an additional abstraction layer for the user, virtual representations of the robot and its environment are used to intuitively control and maneuver intelligent robotic systems. Thus, Simulation-based Control and Simulation-based Support complement each other and are promising development tools for robotic systems, individual parts thereof as well as systems in their entirety. In our contribution, we present the concepts of SbC and SbS in more detail, by examples of several complex robotic systems such as a Motion Simulator, lightweight robots and a mobile Centaur-like teleoperated robot.



Edited by:

Thorsten Schüppstuhl, Kirsten Tracht, Jörg Franke




T. Cichon et al., "Simulation-Based Control and Simulation-Based Support in eRobotics Applications", Applied Mechanics and Materials, Vol. 840, pp. 74-81, 2016

Online since:

June 2016




* - Corresponding Author

[1] F. M. of Education and Research, Recommendations for implementing the strategic initiative INDUSTRIE 4. 0 - Final report of the Industrie 4. 0 Working Group.

[2] H. Kagermann, W. Wahlster, and J. Helbig, Umsetzungsempfehlungen für das Zukunftsprojekt Industrie 4. 0 - Abschlussbericht des Arbeitskreises Industrie 4. 0, (2012).

[3] J. Roßmann, M. Schluse, M. Rast, and L. Atorf, eRobotics - Combining electronic media and simulation technology to develop (not only) robotics applications.

[4] J. Rossmann, M. Schluse, C. Schlette, and R. Waspe, Simulation-based Control: Ein neuer Ansatz zur durchgängigen Entwicklung komplexer Steuerungen und Beobachter auf der Grundlage innovativer 3D-Simulationstechnik und moderner Methoden der eRobotik, " in Wissenschaftsforum 2013-Intelligente Technische Systeme, 9. Paderborner Workshop "Entwurf mechatronischer Systeme, vol. 310 of HNI Verlagsschriftenreihe, pp.117-120, (2013).


[5] M. Quigley, K. Conley, B. Gerkey, J. Faust, T. Foote, J. Leibs, R. Wheeler, and A. Y. Ng, ROS: an open-source Robot Operating System, in ICRA workshop on open source software, vol. 3, p.5, (2009).

[6] S. Cousins, B. Gerkey, K. Conley, and W. Garage, Sharing software with ros [ros topics], Robotics & Automation Magazine, IEEE, vol. 17, no. 2, pp.12-14, (2010).


[7] P. Corke, Integrating ROS and MATLAB, IEEE Robotics and Automation Magazine, June (2012).

[8] T. Blochwitz, M. Otter, M. Arnold, C. Bausch, C. Clauß, H. Elmqvist, A. Junghanns, J. Mauss, M. Monteiro, T. Neidhold, et al., The functional mockup interface for tool independent exchange of simulation models, in 8th International Modelica Conference, Dresden, pp.20-22, (2011).


[9] K. S. Technology, KUKA. RobotSensorInterface., D-86165 Augsburg Germany, (2009).

[10] B. Siciliano and O. Khatib, Springer handbook of robotics. Springer Science & Business Media, (2008).

[11] G. Schreiber, A. Stemmer, and R. Bischoff, The fast research interface for the kuka lightweight robot, in IEEE Workshop on Innovative Robot Control Architectures for Demanding (Research) Applications How to Modify and Enhance Commercial Controllers (ICRA 2010), (2010).

[12] A. Verl, A. Albu-Schäffer, O. Brock, and A. Raatz, Soft Robotics: Transferring Theory to Application. Springer, (2015).


[13] T. H. Massie and J. K. Salisbury, The phantom haptic interface: A device for probing virtual objects, in Proceedings of the ASME winter annual meeting, symposium on haptic interfaces for virtual environment and teleoperator systems, vol. 55, pp.295-300, Chicago, IL, (1994).


Fetching data from Crossref.
This may take some time to load.