There will always be some errors due to slippage, load, or tire deformation that will introduce errors into our measurements. We need good simulation tools.
I would try using some Multibody package (like LMS Virtual.Lab Motion for example) to create the model of the robot arm. Most of the Multibody packages have all sorts of capabilities that can help with your case, for example tire models with high fidelity, or allow for flexible bodies, link it with controls and so on. Bottom line, one can create very complex and high fidelity models with such tools. If you need more specific information, let me know. Regards
Among the commercial options I would consider:
- Vortex Dynamics http://www.cm-labs.com/robotics
- Adams Multibody Dynamics Simulation http://www.mscsoftware.com/product/adams
- Agx Dynamics by Algoryx https://www.algoryx.se/products/agx-dynamics/
On the open-source/non-commercial side, I would consider:
- Bullet Physics Engine http://bulletphysics.org/wordpress/ (It now includes the Articulated Body Algorithms for Forward Dynamics by Roy Featherstone).
- Spatial Vector Algebra Toolbox for Matlab (http://royfeatherstone.org/spatial/). We have modeled a mobile-manipulator in the form a skid-steer loader obtaining physically accurate results. An example can be found here: http://ral.ing.puc.cl/ssmm.htm
If you require to simulate grasping as well, then I'm afraid these tools are not the most adequate. In this case GrapsIt! or OpenGrasp focus on the grasping part of the problem. I do not know of any physically accurate robotics simulator that could solve both the general multibody dynamics and grasping problems at the same time. There are many other simulation tools,many of which are visually realistic but not physically accurate. A nice summary of the physically accurate tools can be found at: http://www.cs.rpi.edu/~trink/sim_packages.html
Best regards, MTT
I prefer using ROS and Gazebo which became the standard for programing robots.
see for example the Komodo arm by Robotican : www.robotican.net
http://eris.liralab.it/wiki/ICub_Simulator_Installation
http://www.icub.org/bazaar.php
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