Realistic robot simulation: multiple instantiating of robot controller software

To realise the concept of a "Virtual Factory" a robot manufacturer\´s challenge is to provide a "virtual" model of their controller software which is finally to be embedded in different simulation systems. Within a simulation environment, in addition to the standard controller features, further simulation specific functionalities have to be provided. During the project "Realistic Robot Simulation" the functional requirements and a standardized communication interface of a Virtual Robot Controller (VRC) has been specified. One of the strongest demands for such a Virtual Robot Controller for a robot manufacturer is the capability of running multiple instances of the virtual controller software. This paper presents the results of our efforts towards multiple instantiating of our dedicated robot controller software. We have succeeded in running two controller instances and one simulation system on a off the shelf personal computer. Thus, we verified the potential of creating robot controller systems for coming e-manufacturing processes.