ROBOMOSP. ROBOtics MOdeling and Simulation Platform

Jaramillo Botero, Andrés and Matta Gómez, Antonio Alejandro and Correa Caicedo, Juan Fernando and 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. https://doi.org/10.1109/MRA.2006.250572.

Description

Title: ROBOMOSP. ROBOtics MOdeling and Simulation Platform
Author/s:
  • Jaramillo Botero, Andrés
  • Matta Gómez, Antonio Alejandro
  • Correa Caicedo, Juan Fernando
  • Perea Castro, Wilber
Item Type: Article
Título de Revista/Publicación: IEEE Robotics and Automation Magazine
Date: December 2006
ISSN: 1070-9932
Volume: 13
Subjects:
Freetext Keywords: Robotics manipulator modeling and simulation, manipulator kinematics, manipulator dynamics, robot trajectory planning, offline programming of robotic manipulators
Faculty: E.T.S.I. Industriales (UPM)
Department: Otro
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

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.

More information

Item ID: 46856
DC Identifier: http://oa.upm.es/46856/
OAI Identifier: oai:oa.upm.es:46856
DOI: 10.1109/MRA.2006.250572
Official URL: http://ieeexplore.ieee.org/document/4015995/
Deposited by: Memoria Investigacion
Deposited on: 23 Jun 2017 09:30
Last Modified: 23 Jun 2017 09:30
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