INTRODUCTION AND SIMULATION

by,

Catur Kartika Bintoro

D400174144
International Class ( I )
 V - REP

V - rep is distributed control 3D robot simulator

that allows to create whole robotic systems,
simulate and interact with dedicated hardware. it
processes several versatile calculation modules and
a very elaborate API. the platform supports CAD
data impor, robot and worls edition and user
interface edition. Platform
windows, mac OS X, and linux

License
partially open source.
several prices available,
free fully functional version
 V - rep is a robot simulator with an
integrated development environment.
controllers can be written in C/C, Python,
Java, Lua, Matlab, Octave, or Urbi.
This application can be used for fast
algorithm development, factory
automation simulations, robotics related
education.
 INSTALLATION OF V-REP

V - REP is cross - platform and work on Windows, Linux and Mac OS. to intall the
application as following :
• On Linux :
– Download the archive.tar.gz, unpack it, navigate to the unpacked directory in the terminal
and run the simulator calling script : ./vrep.sh

• On Windows :
– Download the .exe installation file, run it and follow the instructions in the installer. you can
run the V-REP simulator by launching the vrep from dekstop.

• On Mac OS :
– Download the archive .zip, unpack it, navigate to the unpacked directory and run the
simulator by launching vrep.
 Control programs can be directly attached
to scene object and run simultaneously in a
threaded or non threaded fashion. this makes V
- REP very versatile and ideal for multi-robot
applications, and allows users to model robotic
systems in a similar fashion as in reality -
where control is most of the time also
distributed
 V -REP allows you to edit and
simulate whole robotic systems, or sub-
systems. it offers a multitude of
functionalities that can be easily
integrated and combined through an
exhaustive API and script functionality
 V - REP is used for remote monitoring, hardware control, fast
prototyping and vertification, fast algorith development /
parameter adjustment, safety double-checng, robotics-related
education, factory automation simulations.
EXAMPLE OF SOURCE CODE / SCRIPT
WORKPLACE IN V-REP
EXAMPLE OF PROGRAM IN V-REP
 V - REP support the following techniques of writing
controllers :

• control code is executed on the same machine and in the

same thread as the simulation loop.
• control code is executed on the same machine, but in
another process/thread.
• control code is executed on another machine.
 EXAMPLE OF SIMULATION

Mobile Robot Equipped with 5 Proximity Sensore and One Rendering Sensor
 The rendering sensor is not
used for detection in this case,
but for texture generation for
the LCD panel.
SIMULATION LOOP V-REP OF THE PROGRAM
CONTROL ARCHITECTURE IN V-REP OF THE PRAM
 Greyed areas can be customized by the user. like following :
1. C/C++ API calls to V-REP from the client application, or from extention moduls.
2. Script handling calls. typically sim Handle Child Script. execute all first encountered
child scripts in the current hierarchy.
3. Lua API calls to V-REP from script.
4. Callback calls to extention modules. originate when a script calls a custom function,
previously registered by an extention modules.
5. Event callback calls to the client application.
6. Relayed event calls to extention modules.
MAIN SCRIPT AND CHILD SCRIPT OF THE PROGRAM
 Simulation is handled when the client application calls a main script,
which in turn can call child scripts. Each simulation scene has exactly one
main script that handles all default behaviour of a asimulation, allowing
simple sulations to run without even writ-ing a single line code.The main
script is called at every simulation pass and is non threaded.
V-REP EXAMPLE SCENE OF SIMULATION

The left part shows the

scene hierarchy, the
right part shows the
scene 3D content.
 This results in a versatile and scalable framework that fits the
simulation needs of complex roboticsystems with several forms of
asynchronous interaction. V-REP provides a balanced fumctionality
through a multitudde of additional calculation modules, offering a real
advantage in terms of simulation fidelity and simulation completeness.
EXAMPLE OF SIMULATION FIDELITY AND COMPLETENESS
 One central aspect further enabling V-REP versatility and
scalability is its distributed control approach ; it is possible to test
configurations with 2, 3, or up several hundreds of robots, by simple
drag-and-drop or copy-and-paste actions. There is no need for code
adjusment, not even a supervisor program is required.
Thank you