Guntur Danang Wijaya , Wahyu Caesarendra , Mohammad Iskandar Petra , Grzegorz Królczyk , Adam Glowacz
{"title":"Comparative study of Gazebo and Unity 3D in performing a virtual pick and place of Universal Robot UR3 for assembly process in manufacturing","authors":"Guntur Danang Wijaya , Wahyu Caesarendra , Mohammad Iskandar Petra , Grzegorz Królczyk , Adam Glowacz","doi":"10.1016/j.simpat.2024.102895","DOIUrl":null,"url":null,"abstract":"<div><p>This paper presents a comparison literature study of two potential 3D robotic simulators i.e., Gazebo and Unity 3D to simulate a certain task. Apart of the literature review, the study also conducted a questionnaire survey collected from the robotics community and academia in the field of robotics. The objective of the literature study and the questionnaire is to gain an information related to the most appropriate 3D robotic simulator in creating virtual experience during a certain task which will be used for digital twin in the future study. The selected task is pick and place movement which is the basic part of the assembly process in the manufacturing industry. The questionnaire questions were focused on the user experience in using Gazebo and Unity 3D related to efficiency and other performance tests. To clarify the result obtained from the questionnaire, two identical 3D robotic simulation were built and created on the same assets to provide the objective performance comparison. The simulation is carried out by replicating the same standard 3D scene of UR3 in Gazebo and Unity 3D. According to the literature review, questionnaire, and the simulation result, it provides a new insight to enable a potential digital twin platform and to familiarise the user with the workflow on each platform.</p></div>","PeriodicalId":49518,"journal":{"name":"Simulation Modelling Practice and Theory","volume":null,"pages":null},"PeriodicalIF":3.5000,"publicationDate":"2024-01-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Simulation Modelling Practice and Theory","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S1569190X24000091","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS","Score":null,"Total":0}
引用次数: 0
Abstract
This paper presents a comparison literature study of two potential 3D robotic simulators i.e., Gazebo and Unity 3D to simulate a certain task. Apart of the literature review, the study also conducted a questionnaire survey collected from the robotics community and academia in the field of robotics. The objective of the literature study and the questionnaire is to gain an information related to the most appropriate 3D robotic simulator in creating virtual experience during a certain task which will be used for digital twin in the future study. The selected task is pick and place movement which is the basic part of the assembly process in the manufacturing industry. The questionnaire questions were focused on the user experience in using Gazebo and Unity 3D related to efficiency and other performance tests. To clarify the result obtained from the questionnaire, two identical 3D robotic simulation were built and created on the same assets to provide the objective performance comparison. The simulation is carried out by replicating the same standard 3D scene of UR3 in Gazebo and Unity 3D. According to the literature review, questionnaire, and the simulation result, it provides a new insight to enable a potential digital twin platform and to familiarise the user with the workflow on each platform.
期刊介绍:
The journal Simulation Modelling Practice and Theory provides a forum for original, high-quality papers dealing with any aspect of systems simulation and modelling.
The journal aims at being a reference and a powerful tool to all those professionally active and/or interested in the methods and applications of simulation. Submitted papers will be peer reviewed and must significantly contribute to modelling and simulation in general or use modelling and simulation in application areas.
Paper submission is solicited on:
• theoretical aspects of modelling and simulation including formal modelling, model-checking, random number generators, sensitivity analysis, variance reduction techniques, experimental design, meta-modelling, methods and algorithms for validation and verification, selection and comparison procedures etc.;
• methodology and application of modelling and simulation in any area, including computer systems, networks, real-time and embedded systems, mobile and intelligent agents, manufacturing and transportation systems, management, engineering, biomedical engineering, economics, ecology and environment, education, transaction handling, etc.;
• simulation languages and environments including those, specific to distributed computing, grid computing, high performance computers or computer networks, etc.;
• distributed and real-time simulation, simulation interoperability;
• tools for high performance computing simulation, including dedicated architectures and parallel computing.