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Chapter 5
Results
To better examine the methods presented in Chapter 4 a simulation framework was developed which
allows the modelling of component-based systems with the elements presented in Section 4.3. The
framework was implemented using the Mobile Robot Programming Toolkit (MRPT) 1 which provides
methods to do matrix calculation and to visualize 3D data.
For the simulation a model of a robot with an 4DOF (degrees of freedom) arm, a torso that can
move up and down, a tilting laser and a head which can tilt and pan is chosen. The corresponding
tf tree for this robot with all frames is shown in Figure 5.1. In the tree, the dynamic transformations
are colored orange whereas static transformations are colored green. It can be seen, that most
transformations are dynamic as it is on a real robot.
a
g
b
h
j
c
i
k
f
d
l
e
Figure 5.1: Tf tree of a robot with different actuators and sensors.
1 http://www.mrpt.org/
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