A Co-simulation Framework for Design, Test and Parameter Optimization of Robotic Systems

In this paper, a co-simulation framework is presented that seamlessly integrates design and simulation tools used for robotic systems from different vendors in addition to the designer own developed tools. This way the individual parts or components of the robotic system no longer need to be designed apart from each other. Furthermore, integrated co-simulation facilitates developing the integration methodology for the design, test and parameter optimization of these components. The presented framework is adopted to build and analyse the model of a six-legged space robot. The trajectory tracking and controller design of its joint actuators are also tuned based on it.