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Object-oriented programming for robotic manipulator simulation

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1 Author(s)
Gourdeau, R. ; Dept. de Math. et de Genie Ind., Ecole Polytech. de Montreal, Que., Canada

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.

Published in:

Robotics & Automation Magazine, IEEE  (Volume:4 ,  Issue: 3 )