EJS+EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operation

This paper presents an interactive Java software platform which enables users to easily create advanced robotic applications together with Computer Vision processing. This novel tool is composed of two layers: (1) Easy Java Simulations (EJS), an open-source tool which provides support for creating applications with a full 2D/3D interactive graphical interface, and (2) EjsRL, a high-level Java library specifically designed for EJS which provides a complete functional framework for modeling and simulation of arbitrary serial-link manipulators, Computer Vision algorithms and remote operation. The combination of both components sets up a software architecture which contains a high number of functionalities in the same platform to develop complex simulations in Robotics and Computer Vision fields. In addition, the paper shows its successful application to virtual and remote laboratories, web-based resources that enhance the accessibility of experimental setups for education and research.

Research highlights
► We present an interactive tool based on Java for advanced industrial robots simulation, Computer Vision and remote operation.
► We show the successful application of this software tool to virtual and remote laboratories, web-based resources that enhance the accessibility of experimental setups for education and research.
► The approach presented enables users to easily and quickly create advanced Java applications and it adds novel features that are not found in other toolboxes available today.
► We describe several highlevel applications, which combine both Robotics and Computer Vision functionalities, in order to validate the tool capabilities.