A robotic simulation system combined USARSim and RCS library

Simulation plays an important role in the development of robots, especially in the overall design stage. This paper presents a robotic simulation system, which combined USARSim (Unified System for Automation and Robot Simulation) and RCS (Real-time Control System) library innovatively. With USARSim, we can develop 3D robot platforms and environments in which the robots operate. And with RCS library, we can design a modular onboard control system simulator conveniently, which supports real time running. The framework of the simulation system is introduced, and the implementation of every components are specified in details. The application of the simulation system is demonstrated with an example. And a conclusion is given at last.