iRMSS: An interactive robotics modeling and simulation system based on MSRS

摘要

This paper presents an interactive robotics modeling and simulation system based on the MSRS (Microsoft Robotics Studio), called iRMSS (Interactive Robotics Modeling & Simulation System). iRMSS is composed of two sub systems. One is the 3D robotics modeling sub-system that facilitates the creation of segment-joint model and physical model for robots. The other is the interactive robotics simulation sub-system that can provide dynamics parameters feedback. So that iRMSS has the advantage of rapid robotics modeling and flexible parameter feedback over the MSRS. An experimental case is presented to verify the system feasibility.