A modular approach to simulation of robotic systems

Abstract

This paper presents the results of a simulation effort performed as part of the ICAM robotics program. The initial Q-GERT simulation model is briefly described, followed by the presentation of a modular approach to simulation of robotic systems. In this approach, predefined Q-GERT modules, described by simple block diagrams, are assembled to produce a complete model. The system design logic is discussed and the available modules are briefly described. Examples are presented in block diagram format. The advantages and limitations of the approach are discussed.