Abstract
This paper provides a brief introduction to the Robot Controller Test Station, RCTS, and outlines the simulation capabilities presently available. The main purpose of devising the RCTS is to provide a tool for facilitating the development and integration of software for sensor-based robot systems. Present work is expanding the hierarchial control of RCTS for developing and integrating multi-robot sensor-based systems. RCTS is a highly flexible software platform that allows various types of robots to be programmed and simulated and controlled. Dynamics and kinematics are programmed and physical dimensions are entered. Various operating conditions are also programmable for simulation. These include user-defined settings of gravity, allowing simulation of robots in environments such as space or in an inverted orientation. A sample output from the simulation is included with a general description of the output parameters available.
Published Version
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