Department of Electronic Engineering, Los Libertadores Foundation University, Bogotá, Colombia.
Department of Computer Science, University of Oviedo, Asturias, Spain.
PLoS One. 2020 Jul 1;15(7):e0235271. doi: 10.1371/journal.pone.0235271. eCollection 2020.
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.
对于机器人代理来说，正向运动学和逆向运动学的计算是在任何环境中控制机器人运动时最耗时的任务之一。然后将此计算编码以控制电机，并在模拟器中进行验证。模拟产生的反馈可用于纠正代码，或者可以直接在机器人代理中实现代码。但是，模拟过程执行的指令不是机器人代理的本机指令，这会延长开发时间，或者更倾向于直接在机器人上验证代码，这在某些情况下可能会导致机器人严重损坏。使用领域特定语言有助于减少仿真任务中的开发时间。这些语言通过使用易于理解的语言描述任务来简化代码生成，并允许用户直接使用框架或编程 API 进行测试。本文介绍了 PyDSLRep 语言，该语言的特点是在 V-Rep 仿真环境中连接和操作移动机器人代理的运动。该语言由 20 人在三个不同的环境中进行了测试，与 V-Rep 提供的框架进行了对比，结果表明，PyDSLRep 将平均开发时间减少了 45.22%，将代码行数减少了 76.40%，与 V-Rep 的 Python 框架相比。
