A general approach for simulating robots for flexible material handling

Kinematic modelling of robots and flexible material simulation have been an important aspect in robotic research issues over the last years. In this article a new approach for the design of arbitrary gripper and robot architectures are presented. It is shown how these robot systems can be simulated based on the presented design structure. Further, the integration of flexible material simulation is displayed. A particle based object models are shown and the mathematical basics described. Finally, the integration of the flexible material simulation into the robot simulation software is given and evaluated.