A robot simulation system based on kinematic analyses

Abstract

A robot simulation system has been developed to assist in the design of robots, layouts and robot task planning. A general type of robot manipulator can be stimulated taking into consideration the geometrical and kinematical model of the robot. The work cell with multiple robots and its industrial environment is displayed on CRT by a 3-D computer graphic system. Examples and a description of the mathematical algorithm for the kinematic modelling are also included.