A robotic arm simulator software tool for use in introductory robotics courses

With the rising popularity of robotics in our modern world there is an increase in engineering programs that do not have the resources to purchase expensive dedicated robots but find a need to offer a basic course in robotics. This common introductory robotics course generally covers the fundamental theory of robotics including robot kinematics, dynamics, differential movements, trajectory planning and basic computer vision algorithms commonly used in the field of robotics. The nature of this material almost necessitates the use of robotic hardware to allow the students to practice implementing the theory they learn in class. That is, to fully understand the material, it is necessary for the students to implement algorithms and observe the results on hardware. This paper introduces a software based educational tool designed to be used in introductory robotics courses. The software simulates the geometry of motion (kinematics) of a two link robotic arm and is used by students to implement algorithms based on the robot´s kinematic equations. This includes the use of inverse kinematic equations used to determine the joint inputs based on the desired location of the end-effector, as well as trajectory planning and the study of differential movements. It also include a robotic image processing tool that helps the student design robotic vision algorithms. This tool provides a low cost solution to situations where purchasing expensive robotic arms typically needed for this course is not possible, where the existing equipment does not allow for direct joint programming, or simply for on-line robotics courses.