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Accurate robot simulation

Nehmzow, U., Kerr, D. and Billings, S.A. (2009) Accurate robot simulation. Research Report. ACSE Research Report no. 992 . Automatic Control and Systems Engineering, University of Sheffield


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Robot simulators are valuable tools for researchers to develop control code in a fast and efficient manner without spending time setting up physical experiments. Most simulators, however, do not model the real world accurately. As a consequence, when a program is run on a real robot it may behave differently from when run in simulation. In this paper we present a method of developing a robot simulator that models the operation of a real robot in a real environment accurately, using real robot data and system identification to construct the simulator's model.

Item Type: Monograph (Research Report)
Copyright, Publisher and Additional Information: The Department of Automatic Control and Systems Engineering research reports offer a forum for the research output of the academic staff and research students of the Department at the University of Sheffield. Papers are reviewed for quality and presentation by a departmental editor. However, the contents and opinions expressed remain the responsibility of the authors. Some papers in the series may have been subsequently published elsewhere and you are advised to cite the later published version in these instances.
Institution: The University of Sheffield
Academic Units: The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) > ACSE Research Reports
Depositing User: Miss Anthea Tucker
Date Deposited: 16 Oct 2012 09:34
Last Modified: 21 Jun 2014 02:36
Status: Published
Publisher: Automatic Control and Systems Engineering, University of Sheffield
URI: http://eprints.whiterose.ac.uk/id/eprint/74645

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