Design of a 6DOF Robot Simulation System in ROS-Gazebo with a Brief Reference to Modern Robot Simulation Software

Simulators have become indispensable tools in the field of robotics, providing researchers and engineers with a means to design, develop, and test various aspects of robotic systems in a safe, time and cost-efficient way. Currently, several robot simulation environments exist, each with its own benefits in terms of physical realism, visual realism, simulation speed, and industry support. Gazebo combined with ROS is a popular choice when it comes to simulating robots. This study presents the development of a 6DoF robot simulator in a ROS-Gazebo environment. 6DoF industrial robot RL15, installed at Laboratory for Robotics and machine tools in Lola Institute, is used for demonstration. Modelling of robot links in ROS-Gazebo environment based on the designed robot model in 3D modeller, URDF and SDF file formats, mesh files, including the inertial properties, is presented. Robot trajectory planning, trajectory generation and control design with ROS are described. A brief reference to modern software simulation tools is given.