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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