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Teaching Robotics with a reconfigurable 3D multibody dynamics simulator
Author(s) -
Chiang Luciano E.
Publication year - 2010
Publication title -
computer applications in engineering education
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.478
H-Index - 29
eISSN - 1099-0542
pISSN - 1061-3773
DOI - 10.1002/cae.20202
Subject(s) - robotics , multibody system , computer science , mechanism (biology) , software , set (abstract data type) , artificial intelligence , equations of motion , software package , motion (physics) , simulation , control engineering , robot , engineering , programming language , physics , quantum mechanics
The theoretical foundations of a software package used to teach Robotics by simulation of 3D multibody systems is described. The software called PADROB is based in a methodology that automatically assembles and solves the equations of motion of a 3D mechanism specified according to modeling conventions. The system of equations is time‐integrated to simulate the behavior of a multibody mechanism subject to a set of external forces and moments. Models are constructed by specifying bodies and connections (joints) between them, and they easily reconfigurable. © 2009 Wiley Periodicals, Inc. Comput Appl Eng Educ 18: 108–116, 2010; Published online in Wiley InterScience ( www.interscience.wiley.com ); DOI 10.1002/cae.20202