Development of a fully integrated simulation package for industrial robot

The purpose of this paper is the development of a fully integrated simulation package for industrial robot. The simulation package consists of kinematics, dynamics, and control. The kinematics contains trajectory plans and inverse kinematics. The dynamics combines manipulator dynamics and actuator dynamics including the effect of payloads and viscous frictions. The control is a hardware oriented scheme which contains position controller, velocity controller, current controller, and PWM generator. Thus, the simulation package can be used not only for theoretical purposes but also for development purposes in industry. Using this package, the characteristics and performances of the SCARA robot, which has been developed in GSIS, are investigated.