A simulation environment for robot motion planning

Abstract

We introduce Ibex, a real-time capable physics simulation framework. Ibex is ideally suited to simulate mechatronic systems as well as environments in which robot motion planning algorithms can be developed and tested. The entire control loop encountered in robotics can be simulated. This includes the simulation of robot sensors and actuators. The current implementation includes a rigid-body simulation which encompasses not only kinematic but also dynamics effects. It performs collision detection and resolution in real-time or faster for typical setups. The completely modular design of Ibex means the framework is easily configurable and extensible. Additional physics simulation modules covering phenomena such as electromagnetic forces can be integrated transparently. These modules can interact with existing entities to build an overall system. Ibex can communicate with external hardware through I/O interfaces, thus allowing hardware-in-the-loop simulations. We present example Ibex applications from both industrial and mobile robotics. We also describe why Ibex is a real asset for robot motion planning and how we intend to apply it in this field.