The DLR Robots library – Using replaceable packages to simulate various serial robots

Abstract

In order to simulate different kinds of serial robots, the implementation of functionalities such as the calculation of their direct and inverse kinematics, visualization, collision behavior, etc. is necessary. However, providing these functionalities in robot specific models leads to additional modeling overhead in cases where one would like to switch between several different robot models. The DLR Robots library demonstrates an implementation of all robot specific components as replaceable Modelica packages, allowing for an user-friendly way to exchange robot models without modifying the general structure of the overlying model.