Simulation of multiprocessor robot controllers

A description is given of the SIMPARC software, which consists of a set of C++ classes designed to build simulators for multiprocessor robot controllers. It is built on an event-driven simulator for program execution simulation, and a numerical integration package for robots behavior simulation. It allows describing the hardware of the target architecture in terms of communicating devices. This software allows the user to define his own robot models and actually runs user programs on the simulated architecture. It is mainly concerned with timing aspects of multiprocessor applications and takes into account the sharing of communication resources and processor interrupts