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A modular object-oriented framework for hierarchical multi-resolution robot simulation

Published online by Cambridge University Press:  21 April 2004

Sanghoon Yeo ,
Jinwook Kim ,
Sung Hee Lee ,
F. C. Park ,
Wooram Park ,
Junggon Kim ,
Changbeom Park  and
Intaeck Yeo
Sanghoon Yeo
Affiliation:
Nexon Co., Media Laboratory (South Korea).
Jinwook Kim
Affiliation:
KIST, Imaging Media Research Center (South Korea).
Sung Hee Lee
Affiliation:
Seoul National University, School of Mechanical and Aerospace Engineering (South Korea).
F. C. Park
Affiliation:
Seoul National University, School of Mechanical and Aerospace Engineering (South Korea). E-mail: fcp@snu.ac.kr
Wooram Park
Affiliation:
Seoul National University, School of Mechanical and Aerospace Engineering (South Korea).
Junggon Kim
Affiliation:
Hyundai Heavy Industries Co., Intelligent Mechanical System Research Dep. (South Korea).
Changbeom Park
Affiliation:
Hyundai Heavy Industries Co., Intelligent Mechanical System Research Dep. (South Korea).
Intaeck Yeo
Affiliation:
Hyundai Heavy Industries Co., Intelligent Mechanical System Research Dep. (South Korea).
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Abstract

We describe the design and implementation of RSTATION, an object-oriented, modular robot simulator with hierarchical analysis capabilities. Modularity is achieved via the features of design encapsulation and enables grouping a set of interconnected components into a single component and dividing the robot system into several sets of subordinate modules recursively. By careful construction of the data types and classes, RSTATION allows for hierarchical simulation of the kinematics, and the dynamics at three levels: considering only main links (high-level), using simplified models including dynamic properties of transmission elements (intermediate level), and taking into account the detailed kinematics and dynamics of transmission elements (low-level). Submodules can be set to different resolution during a single simulation. The data types and classes also exploit a recent set of coordinate invariant robot analysis algorithms based on modern screw theory. Central to the low-level dynamic analysis capability is an algorithm for systematically extracting the constraint equations for general gearing systems. The various features of RSTATION are illustrated with a detailed case study of a commercial industrial robot.

Keywords

Robot simulationObject orientationHierarchical simulation
Type
Research Article
Information
Robotica , Volume 22 , Issue 2 , March 2004 , pp. 141 - 154
Copyright
2004 Cambridge University Press

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