Development of a general purpose software package for robot simulation

범용 로보트 시뮬레이션 팩키지 개발에 관한 연구

The simulation algorithm for all kinds of robots with arbitrary degrees of freedom which are combined with revolute joints or prismatic joints, or combinations was studied and implemented. This simulation package is composed of trajectory planning routine, control routine, kinematics routine using Newton-Raphson method, dynamics based on Newton-Euler method with four-bar linkage analysis, input routine and output routine.