Index
Introduction
VirtualRobot Simulator
VRS Demos
Download Area
Papers
Videos
Applications
Documentation
INTRODUCTION
VirtualRobot is a freeware software suite, in the
sense that includes several programs, developed in C++ by DISA-UPV Robotics
Group (robotica.isa.upv.es), for
robotics application, research and education, with a graphical representation
based on OpenGL under Microsoft Windows (2k/NT/9x) operating systems. Its
beginning, on 1998, was motivated by the need of a remote graphical application
for programming, monitoring and simulating multi-robot cells on the control
system GENERIS (Generalised Software Control System for Industrial Robots)
developed by European Commission Joint Research Centre. Its open software
architecture design allows, i.e., kinematics modules to be ported to GENERIS
control system.
VirtualRobot
Simulator (VRS)
VirtualRobot Simulator (VRS)
is the main platform for simulation, and includes some components (a set of
adaptable Dynamic Link Libraries) and external applications (VRS Tools, VRM
Tools and VRS Demos) as well as documentation.
VRS Demos
VRS includes several demos. To
play them, you must run the Demos programs, placed in the File menu, option Demos,
as shown in the figure:
DOWNLOAD AREA
Download program
Please, remove previous versions of VirtualRobot
Simulator from your computer, download the following zip (or rar) file,
unzip (or unrar) in your computer and execute the setup.exe file.
Download VRS 6.6 Beta version
November 2004 (ZIP version, 65.713KB)
Download VRS 6.6 Beta version
November 2004 (RAR version, 64.053KB)
New
Update VirtualRobot to VRS 6.7 (Nov2007):
After installation, download this VRS67 zip file
and replace the three included files of the old version in:
-
VRS.exe in VirtualRobot directory
-
VRMEditor,exe in
Applications\VRMTools directory
-
Vreal.ini in Windows directory
If after installation, VRS is not working, probably
you will require installing MFCs (as explained in readme.txt file).
PAPERS
O.
Sapena, E. Onaindía, M. Mellado, C. Correcher & E. Vendrell.
Reactive
Planning Simulation in Dynamic Environments with VirtualRobot.
Lecture
Notes in Artificial Intelligence. Innovations in Applied Artificial
Intelligence. IEA/AIE 2004 ISBN: 3-540-22007-0
The 17th International Conference on Industrial & Engineering Applications
of Artificial Intelligence & Expert Systems. May 17-20, 2004, Ottawa,
Canada
Paper (pdf), 147KB
M.
Mellado, C. Correcher, J.V. Catret & D. Puig.
VirtualRobot: An open
general-purpose simulation tool for Robotics.
The 2003 European Simulation and Modelling Conference (ESM2003), EUROSIS, Naples, Italy.
October
2003.
Paper (pdf), 2.185KB
M. Mellado, J.V. Catret, D. Puig, E.
Vendrell.
Sistema Remoto de
Programación, Simulación y Monitorización de Robots.
Simposio de Ingeniería
Eléctrica (SIE 2001),
Santa Clara, Cuba.
Mayo
2001.
Paper (pdf), 369KB Poster (pdf), 565KB
R. Zotovic, M. Mellado,
V. Jornet, J.V. Catret & D. Puig.
Diseño, Implementación y
Control de un Sistema Háptico con Realimentación Sensorial en Tele-Robótica.
2º
Congreso Int. Interacción Persona-Ordenador (Interacción’2001),
Salamanca, España.
Mayo 2001.
Paper (pdf),
247KB Poster (pdf), 5.666KB
M. Mellado, J.V. Catret & D. Puig.
Dispositivos de Entrada de Datos 3D en Tele-Robótica.
2º Congreso Int. Interacción Persona-Ordenador
(Interacción’2001), Salamanca, España.
Mayo 2001.
Paper (pdf), 86KB Poster (pdf), 432KB
D.
Puig, M. Mellado, J.V. Catret & E. Ruiz.
Robot
Kinematics Development Environment: Application to a Configurable Redundant
Manipulator for Heavy Robotics.
5th World WSES/IEEE Conference on Circuits, Systems, Communications & Computers
(CSCC 2001), Creta, Greece.
July 2001.
Paper
(pdf), 2.008KB
J.V.
Catret, M. Mellado & D. Puig,
Open Graphics System for 3D-Mapping Validation on Robotics.
8th IEEE International Conference on Electronics, Circuits and Systems
(ICECS’2001)¸ Valetta Malta.
September
2001.
Paper
(pdf), 490KB Poster (pdf), 1.736KB
VIDEOS
Please note file size
Industrial robots manipulators:
Arc Welding
(3120Kb)
Spot Welding
(932Kb)
Machine Load
(596Kb)
Assembly Line
(1608Kb)
Card Board Holing
(596Kb)
Bottle Packing
(Compressed version) (1248Kb)
Heavy redundant robot
Rialto-Gaer (35Mb)
Heavy redundant robot
Rialto-APM (46Mb)
Wheel Assembly
(101Mb)
Bottle Packing
(Full version) (152Mb)
Letter Drilling (197Mb)
Mobile Robots:
Bike (268Kb)
Riv (984Kb)
Nomad On a Maze
(Compressed version) (1346Kb)
Mail Delivery
(2166Kb)
Nomad (164Mb)
Nomad On a Maze (Full
version) (78Mb)
Yair (33Mb)
Walking Robots:
Silo4 (824Kb)
APPLICATIONS
FREESUB Research Training Network
funded by the European Commission under the Human Potential Programme
has decided to use VirtualRobot as the common software platform for
Underwater Robot Simulation. In this way, a VirtualRobot Workshop was organized
at the Joint Research Centre (Ispra) (see October
2003 Newsletter of the FREESUB network) and a work meeting on Simulator Integration was
organized at Commissariat à l’Energie Atomique, CEA (see February
2004 Newsletter of the FREESUB network). The following paper shows the use
of VirtualRobot within the network.
M. Badica, F. Schramm, P. Gravez, P. Weiss & J.V.
Catret.
An architecture for
supervising the telemanipulation of an IAUV-mounted robotic arm.
International
Carpathian Control Conference (ICCC), Zakopane, Poland.
May, 2004.
Paper
(pdf), 210KB Poster (pdf), 547KB
DOCUMENTATION
An on-line English documentation
(for VRS version 6.01) is now available.