Title :
Object-oriented programming for robotic manipulator simulation
Author :
Gourdeau, Richard
Author_Institution :
Dept. de Math. et de Genie Ind., Ecole Polytech. de Montreal, Que., Canada
Abstract :
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.
Keywords :
control engineering computing; digital simulation; manipulator dynamics; manipulator kinematics; object-oriented programming; simulation; software packages; C++ language; ROBOOP; inverse dynamics; kinematics; object-oriented programming; robotic manipulator; simulation package; Computational modeling; Dynamic programming; Kinematics; Manipulator dynamics; Mathematical model; Object oriented modeling; Object oriented programming; Packaging; Robotics and automation; Robots;
Journal_Title :
Robotics & Automation Magazine, IEEE
