A Reconfigurable Virtual Modeling Method for Robot Simulation

Robot simulation is an effective tool in evaluating the performance of robot. In traditional simulation, virtual models of robots are usually determined in advance. To enhance the flexibility and versatility of the simulation, a reconfigurable virtual modeling method for robot simulation is proposed in this paper. Reconfiguration includes addition, removal, and transformation of virtual models, realized with a C++ container. Finally, the reconfiguration simulation result for the typical space manipulator task indicates the effectiveness of the proposed method.