Gazebo for industrial automation simulation

asked 2018-02-08 04:10:18 -0600

ul gravatar image

hi,

We are currently looking into the design of a industrial manipulator with X, Y, Z, R axes and a gripper. The machine is controlled with a PLC running CodeSys3. Movements are generated with the CNC module by evaluating G-code. The axes are controlled with Servo Drives over a ProfiNet field bus.

I was wondering if Gazebo could be used for the simulation of such a machine? As far as I can understand, I would probably need to write a model plugin to connect the position and velocity parameters of the drives to Gazebo. Parameters could be exchanged over OPC UA (C++ libs seem to be available)? The gripper has open/close state contacts plus a distance sensor to be able to pick the objets to place from a shelve which would also be mapped to Gazebo.

Is this worth considering? Did anybody do something similar? Any pointers or additional information would be greatly appreciated.

Thanks in advance Ralph

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Comments

Do you actually need a dynamics simulation? I'm just wondering what your motivation is for setting up a Gazebo model here.

gvdhoorn gravatar imagegvdhoorn ( 2018-02-13 11:15:14 -0600 )edit

I want to do a similar thing. I'd like to simulate a vehicle including sensor data, which is connected to a plc (Siemens Simatic S7). Therefore i need a connection between plc and gazebo. What is the best way to do that?

yasdfgr gravatar imageyasdfgr ( 2018-02-22 10:57:56 -0600 )edit