Object-oriented programming for robotic manipulator simulation

Object-oriented programming for robotic manipulator simulation

Using an object-oriented programming approach, ROBOOP, a robotic manipulator simulation package which is both platform and vendor independent, compares favourably against a package requiring similar coding effort. Performance tests show that with ROBOOP the class inverse dynamics of a 6-DOF robot ca...

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Veröffentlicht in:IEEE robotics & automation magazine 1997-09, Vol.4 (3), p.21-29
1. Verfasser: Gourdeau, R.
Format: Artikel
Sprache:eng
Schlagworte:
Computational modeling
Dynamic programming
Kinematics
Manipulator dynamics
Mathematical model
Object oriented modeling
Object oriented programming
Packaging
Robotics and automation
Robots
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Beschreibung
Zusammenfassung:Using an object-oriented programming approach, ROBOOP, a robotic manipulator simulation package which is both platform and vendor independent, compares favourably against a package requiring similar coding effort. Performance tests show that with ROBOOP the class inverse dynamics of a 6-DOF robot can be computed in less than 5 ms with a Pentium 100 MHz computer.
ISSN:1070-9932
1558-223X
DOI:10.1109/100.618020