ROBOMOSP. ROBOtics MOdeling and Simulation Platform

摘要

This paper describes the design and development of the modeling and simulation environment for the robotic manipulators named ROBOMOSP (Robotics Modeling and Simulation Platform), which addresses important limitations of existing software for this purpose, under a highly parametric interface ideal for academics and research. The ROBOMOSP software platform adds novel characteristics and functions that are not found in other commercial and noncommercial robot modeling and simulation packages available today, including solution to the multibody dynamics problem using automatic calculation of the mass properties of robot multibodies, offline programming using a standard language, an API interface to allow experimentation with new algorithms, and support for remote/distributed use of the platform via socket communications. ROBOMOSP is ideal for training robotic operators, as a research aid, and for studying the mathematical and physical foundations of robotic manipulators, thanks to its ability to permit the expression of models that closely simulate the behavior of real systems within a feature-packed user-friendly interface.