The paper presents several features of a dynamic simulator for robot mechanisms that has been produced within the framework of a large research project for robot usage in surgical applications. The main features required for the simulator are the following: it must deal with mechanisms with open and closed kinematic chains, allow definitions of rigid and flexible bodies, permit definitions of complex non-standard dynamic actions, and provide links to user-friendly interfaces for result display and external feedback. The software is implemented in an object-oriented language using Matlab. The first part of the paper presents the architectures of hybrid robots suited for the considered application and deals with the aforesaid features of the dynamic simulator. Then the actual software implementation is described. Finally, the work in progress and the forthcoming developments are outlined. The designed software architecture is open and allows great model generality; moreover, the software can be optimized and tailored to specific robot models in order to get good computational efficiency.
AN OPEN SOFTWARE FOR THE DYNAMIC SIMULATION OF ROBOT MECHANISMS WITH HYBRID ARCHITECTURES
FANGHELLA, PIETRO;
2003-01-01
Abstract
The paper presents several features of a dynamic simulator for robot mechanisms that has been produced within the framework of a large research project for robot usage in surgical applications. The main features required for the simulator are the following: it must deal with mechanisms with open and closed kinematic chains, allow definitions of rigid and flexible bodies, permit definitions of complex non-standard dynamic actions, and provide links to user-friendly interfaces for result display and external feedback. The software is implemented in an object-oriented language using Matlab. The first part of the paper presents the architectures of hybrid robots suited for the considered application and deals with the aforesaid features of the dynamic simulator. Then the actual software implementation is described. Finally, the work in progress and the forthcoming developments are outlined. The designed software architecture is open and allows great model generality; moreover, the software can be optimized and tailored to specific robot models in order to get good computational efficiency.
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