ROBOMOSP. ROBOtics MOdeling and Simulation Platform

Jaramillo Botero, Andrés; Matta Gómez, Antonio Alejandro; Correa Caicedo, Juan Fernando y Perea Castro, Wilber (2006). ROBOMOSP. ROBOtics MOdeling and Simulation Platform. "IEEE Robotics and Automation Magazine", v. 13 (n. 4); pp. 62-73. ISSN 1070-9932.


Título: ROBOMOSP. ROBOtics MOdeling and Simulation Platform
  • Jaramillo Botero, Andrés
  • Matta Gómez, Antonio Alejandro
  • Correa Caicedo, Juan Fernando
  • Perea Castro, Wilber
Tipo de Documento: Artículo
Título de Revista/Publicación: IEEE Robotics and Automation Magazine
Fecha: Diciembre 2006
Volumen: 13
Palabras Clave Informales: Robotics manipulator modeling and simulation, manipulator kinematics, manipulator dynamics, robot trajectory planning, offline programming of robotic manipulators
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Otro
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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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.

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ID de Registro: 46856
Identificador DC:
Identificador OAI:
Identificador DOI: 10.1109/MRA.2006.250572
URL Oficial:
Depositado por: Memoria Investigacion
Depositado el: 23 Jun 2017 09:30
Ultima Modificación: 23 Jun 2017 09:30
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