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Symbolic robot simulation software for educational purposes | IEEE Conference Publication | IEEE Xplore

Symbolic robot simulation software for educational purposes


Abstract:

This paper presents a robot simulation software developed in Matlab environment for mostly educational purposes. The software works with open-chain, series robots, and is...Show More

Abstract:

This paper presents a robot simulation software developed in Matlab environment for mostly educational purposes. The software works with open-chain, series robots, and is able to compute models, plan trajectory, and simulate the robot motion according to its dynamics. In order to increase visuality, the software generates a virtual model of the robot. Several ways of model calculation are implemented, most of them based on the Denavit-Hartenberg convention, and some of them on the differential geometric approach, which uses twists, screws and wrenches. One of the main goals is to provide a software tool for students that makes a better understanding of the relation between robot motion and its physical properties. On the other hand, the software tool assists teachers to check handwritten homeworks in robotic courses.
Date of Conference: 23-26 August 2009
Date Added to IEEE Xplore: 02 April 2015
Print ISBN:978-3-9524173-9-3
Conference Location: Budapest, Hungary

References

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