Background

Developing robot applications still presents significant challenges due to high hardware costs. The traditional approach—assembling hardware first, then developing and testing applications—has become inefficient as requirements grow more complex, leading to higher costs and longer error correction times. To overcome these challenges, we developed Virtual Robot Controllers (VRC) using container-based virtualization. By integrating this technology with cloud computing and physics engines, we enable application development and testing without physical robot hardware.

What is the

VRC?

A Virtual Robot Controller (VRC) is a technology that virtualizes the control functions of real robots, enabling their emulation and operation based on information from a virtual physical environment. Unlike traditional controllers, which rely solely on physical hardware, VRC operates using simulated physical data, making it hardware-independent. The main applications of virtual controllers are as follows:

Development and Testing

VRC integrates with physics engine-based simulators to facilitate the development and testing of various robot applications. Developers can simulate robot operations across various scenarios to refine algorithms, optimize performance, and address issues without risking damage to physical hardware.

Education and Training

VRC is widely used in educational environments, allowing students and professionals to gain hands-on experience in robot control and programming without requiring physical robots. This significantly reduces costs while providing a training environment that closely replicates working with actual robots.

Why is VRC

Nessesary?

A Virtual Robot Controller (VRC) provides a cost-effective, scalable, and safe alternative to physical robots. It allows developers to simulate and test robot applications in a virtual environment, reducing the need for expensive upfront purchases of robot hardware and eliminating risks such as damage during development. Additionally, VRC enables rapid iteration, accelerating the innovation and deployment of new robotic solutions. Through cloud integration, it also offers scalability to manage large-scale robot operations without the limitations of physical hardware.

Virtual Robot Controller

Traditional Physical Robots

Cost

Lower,
as no physical hardware

High due to hardware
and maintenance expenses

Scalability

Virtually unlimited scalability
in simulations

Limited by physical constraints
and available resources

Risk

No risk to physical
equipment

High risk of damaging
hardware during testing

Development Speed

Faster, with rapid iterations
in a virtual setup

Slower, with longer cycles
due to physical limitations

Features

Structure of VRC

A Virtual Robot Controller (VRC) utilizes container-based virtualization to provide a scalable and flexible environment for developing and managing various robot applications. It operates within a cloud computing infrastructure and is powered by orchestration platforms like Kubernetes. The key components of VRC are as follows:

Interface Layer

Frontend Server Machine

This server provides a web-based graphical user interface (GUI) that allows users to easily manage and control the virtual robot controllers (VRC). The GUI simplifies interaction with VRC, ensuring smooth operation and configuration.

Core Layer
(Main Server Machine)

Control Server

Manages the core operations of VRC, coordinating the deployment and execution of virtualized controllers within the cloud environment.

Management Functions

Handles system administration, monitoring, resource allocation, and task scheduling.

Image Repository

Stores pre-configured virtual robot controller images, enabling users to deploy and manage them easily. The currently available controllers include:

- Motion Controller: Mintrobot's 'Stellar' motion controller provided based on the TERMINAL middleware.

- Navigation Controller: A robot navigation controller configured with the 'NAVI2' package of ROS2, an open-platform robot control middleware.

- Integrated Controller: A robot integrated controller built on 'Fabric Mind', an open-platform cognitive AI agent engine.

Orchestration Platform

Kubernetes Integration

Manages the deployment, scaling, and operation of VRC, enabling the execution of multiple controllers across several task machines to handle large-scale operations.

Worker Machines

Dedicated User Space

Each Worker machine hosts a dedicated user space where virtualized controllers run. This isolated environment ensures efficient execution of multiple virtual robot controllers while preventing interference.

Network Connection

Worker machines are connected to the main server and other machines through a network. They also run simulated robots on the network, providing real-time feedback and interaction.

Simulator Devices

Execution via Worker Machines

Devices representing robots in a virtual physical environment are connected to controllers running within the dedicated user space of worker machines. This connection, based on a network infrastructure, allows accurate testing and development of robot applications in a virtual environment through emulation controllers and virtual devices.

Advantage of VRC

Mintrobot's Virtual Robot Controller (VRC) revolutionizes the way robot applications are developed, tested, and managed. By leveraging advanced virtualization and cloud-based technologies, VRC offers users scalable, efficient, and cost-effective solutions.

Cost Efficiency and Scalability

Reduced Hardware Costs

VRC eliminates the need for expensive physical robots during development, significantly reducing costs.

Massive Scalability

Through container-based virtualization and cloud integration, VRC can scale from a few robots to hundreds within a distributed processing environment.

Accelerated Development and Safe Testing

Rapid Prototyping

VRC enables fast development and testing cycles in a virtual environment, reducing the time-to-market for new applications.

Safe Testing Environment

VRC allows testing of new algorithms and robot behaviors without risking damage to physical hardware, making it ideal for high-risk scenarios.

Cloud-Based Flexibility and Collaboration

Cloud Integration

VRC’s cloud infrastructure supports remote access, enabling collaborative development from multiple locations. Users can dynamically allocate resources for virtual controllers as needed.

Centralized Control

VRC supports centralized, "brain-free" control without requiring embedded controllers in individual robots, enabling efficient management of complex robotic systems, such as swarm robots.

Accurate Simulation and Customization

Realistic Simulations

By integrating advanced physics engines, VRC provides highly accurate environments for validating robot applications in conditions close to reality.

Customizable and User-Friendly

The web-based GUI offers an intuitive and accessible environment for all users, with the ability to create and manage customized simulation environments tailored to specific needs.

Comparison

1^st Generation vs
2^nd Generation vs
3^rd Generation

Virtual Robot Controllers (VRC) have undergone significant advancements through three generations. The 1st generation provided basic functionality without direct connections to physical robots. The 2nd generation introduced the ability to emulate actual controllers but faced scalability challenges. The 3rd generation, which we now present, incorporates container-based virtualization, enabling the execution of multiple controllers on a single PC while seamlessly supporting cloud integration. The table below summarizes these key differences:

3^rd Generation

2^nd Generation

1^st Generation

Controller

Container-based virtualized
controller using Docker or Podman

Can emulate the actual
controller and manage multiple controllers on a single PC

Cloud integration enables
large-scale operations

Host-based virtualized
controller using VMWare or
VirtualBox

Can emulate the actual
controller

High resource consumption
limits scalability

No virtualized controllers

Independent program
unrelated to real robots

Simulation

Integration with third-party physics engines;
comprehensive simulation capabilities

Self-developed rendering program; limited simulation capabilities

Self-developed ODE physics engine

Use

Hobby, education, job training, and verification of mass and sophisticated robot applications

Job training for robot
automation

Hobby, programming
education

Related company

MINTROBOT

Universal Robots, ABB, etc.

Microsoft

Conclusion

Mintrobot's Virtual Robot Controller (VRC) is a critical technology that transitions the traditional hardware-dependent approach to robot development into a cloud-based virtual environment. By streamlining the development process and removing physical constraints, VRC enables developers, educators, and businesses to innovate more quickly and efficiently. As a core tool in modern robotics, VRC is shaping the future of automation, making advanced robotic applications more accessible and reliable.