Description

This software is a simulation application for investigating Kinematics, Statics, Dynamics, and Control of serial-link robot manipulators. It is a versatile tool to build different configurations of robot manipulators and analyze their performance.

By clicking on ROBOT menu, a new, customized robot can be defined simply by introducing its kinematic and dynamic parameters ( only for dynamics and controls simulations ) in their specified blocks located on the Robot Parameters Window; or, as a default option, some predefined robots, such as PUMA560, STANFORD, SCORBOT-ER, ROBOTWIN, and MARS Manipulator, can be selected for the simulation.

Users can select the type of the simulation, i.e., Forward Kinematics, Inverse Kinematics, Differential Kinematics, Statics, Forward Dynamics, Inverse Dynamics and Controls by clicking on SIMULATION menu. For each type of simulation, specific sets of input should be assigned on the Simulation Inputs Window. Each scalar or vector input can be defined as a constant, ramp, sinusoidal, or any arbitrary function of time.

By clicking on the Start button on the Simulation Input Window, the simulation time of the experiment and the time increment for saving the data can be assigned. Finally, the numerical results will be printed on the screen (for constant inputs), and the graphical results and the 3D animation demonstration of the robot can be observed by clicking on the RESULT menu.

The software also includes an Integrated Design and Simulation Environment (IDSE) for a Modular, Autonomously Reconfigurable Serial (MARS) Manipulator. The MARS Manipulator is an 18- Degree-of-Freedom (DOF) serial-link manipulator. It is a reconfigurable manipulator, because through the locking of specific joints, it is able to physically emulate a variety of lesser DOF robots, such as the 5-DOF SCORBOT manipulator. To run the MARS Simulation, choose the MARS manipulator under the "Robot" menu. A separate interface will appear after 30-60 sec. depending on the CPU. To visualize the robot's current configuration, click on the "Activate Visualization" button.
To read the simulation manual online, click here.

Download the Simulation Manual

Download the Experiment Manual