PyDSLRep: a domain-specific language for robotic simulation in V-Rep

Autor: Rubén González Crespo, Andrés Camilo Jiménez, John Anzola, Liping Zhao, Vicente García-Díaz
Rok vydání: 2020
Předmět:
Robotics/instrumentation
Kinematics
Computer science
Velocity
Social Sciences
computer.software_genre
Systems Science
Agent-Based Modeling
Medicine and Health Sciences
Psychology
Musculoskeletal System
Language
computer.programming_language
Multidisciplinary
Programming language
Physics
Simulation and Modeling
Classical Mechanics
Robotics
Equipment Design
Biomechanical Phenomena
Physical Sciences
Medicine
Engineering and Technology
Anatomy
Robots
Research Article
Computer and Information Sciences
Source lines of code
Science
Movement
Research and Analysis Methods
Motion
Humans
Computer Simulation
Code generation
Inverse kinematics
business.industry
Mechanical Engineering
Cognitive Psychology
A domain
Biology and Life Sciences
Python (programming language)
Cognitive Science
Robot
Programming Languages
Artificial intelligence
business
computer
Mathematics
Neuroscience
Zdroj: Scopus
RUO. Repositorio Institucional de la Universidad de Oviedo
instname
PLoS ONE
Jiménez, A C, Anzola, J P, García-Díaz, V, González-Crespo, R & Zhao, L 2020, ' PyDSLRep: A Domain-Specific Language for Robotic Simulation in V-Rep ', P L o S One, vol. 15, no. 7, e0235271, pp. e0235271 . https://doi.org/10.1371/journal.pone.0235271
RUO: Repositorio Institucional de la Universidad de Oviedo
Universidad de Oviedo (UNIOVI)
PLoS ONE, Vol 15, Iss 7, p e0235271 (2020)
DOI: 10.1371/journal.pone.0235271
Popis: Calculating forward and inverse kinematics for robotic agents is one of the most time-intensive tasks when controlling the robot movement in any environment. This calculation is then encoded to control the motors and validated in a simulator. The feedback produced by the simulation can be used to correct the code or to implement the code can be implemented directly in the robotic agent. However, the simulation process executes instructions that are not native to the robotic agents, extending development time or making it preferable to validate the code directly on the robot, which in some cases might result in severe damage to it. The use of Domain-Specific Languages help reduce development time in simulation tasks. These languages simplify code generation by describing tasks through an easy-to-understand language and free the user to use a framework or programming API directly for testing purposes. This article presents the language PyDSLRep, which is characterized by the connection and manipulation of movement in mobile robotic agents in the V-Rep simulation environment. This language is tested in three different environments by twenty people, against the framework given by V-Rep, demonstrating that PyDSLRep reduces the average development time by 45.22%, and the lines of code by 76.40% against the Python framework of V-Rep.
Databáze: OpenAIRE
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