BADGER robot simulation for IMU selection Sample Clauses

BADGER robot simulation for IMU selection. SingularLogic has developed a simulator whose purpose is to test the behaviour of different IMU configurations and sensor fusion algorithms for the attitude estimation of the robot. The simulation was implemented in GAZEBO-ROS and comprises: • 4 links (wagons) • 3 joints of combined actuation (a spherical joint together with a prismatic) • Dynamic simulation with friction and gravity • Kinematics & transformation tree available through RO TF and KDL Simulated locomotion is generated via the Xxxxxxx-line actuators and variable friction between each link and the ground (clamps). Currently our simulator does not take into account the underground environment (see Figure 55). For more accurate simulation of the accelerations of each wagon, we will incorporate the dynamic model of the BADGER robot when drilling in underground environment, derived by UoG. In addition, we will take into account indicative experimental values of vibrations generated during operation of existing trenchless technology machines. These values will be provided either by partner TT or will be found in the literature.
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