TY - JOUR
T1 - ROBOMOSP
AU - Jaramillo-Botero, Andrés
AU - Matta-Gómez, Antonio Alejandro
AU - Correa-Caicedo, Juan Fernando
AU - Perea-Castro, Wilber
N1 - Funding Information:
Andrés Jaramillo-Botero received his B.Sc. in electrical engineering from Boston University, Massachusetts, his M.Sc. in computer science from the State University of New York (SUNY-Binghamton), Binghamton, and his doctorate in engineering from the Polytechnic University of Valencia, Spain. He is a full professor of the engineering faculty and director of the Robotics and Automation research Group (GAR) (http:// gar.puj.edu.co) at the Pontificia Universidad Javeriana, in Cali, Colombia. His research interests include design and characterization of nanometer-scale devices for molecular mechanosynthesis, strictly parallel algorithms and architectures for large-scale, real-time computations, and robotics design, modeling, simulation, and control. He has held research appointments with the Materials and Process Simulation Center (MSC) at Caltech, with the ultracomputing group at the Jet Propulsion Laboratory (JPL-NASA), with the Institute of Pure and Applied Mathematics (IPAM) at the University of California in Los Angeles (UCLA), and with the Robotics Department at the Mechanical Engineering Laboratory (MEL), AIST (Agency of Industrial Science and Technology) in Tsukuba, Japan. He is a Fulbright scholar, an National Science Foundation research fellow, a JITA fellow (Japan Industrial Technology Association), and a Senior Member of the IEEE.
PY - 2006/12
Y1 - 2006/12
N2 - This paper describes the design and development of the modeling and simulation environment for the robotic manipulators named ROBOMOSP (Robotics Modeling and Simulation Platform), which addresses important limitations of existing software for this purpose, under a highly parametric interface ideal for academics and research. The ROBOMOSP software platform adds novel characteristics and functions that are not found in other commercial and noncommercial robot modeling and simulation packages available today, including solution to the multibody dynamics problem using automatic calculation of the mass properties of robot multibodies, offline programming using a standard language, an API interface to allow experimentation with new algorithms, and support for remote/distributed use of the platform via socket communications. ROBOMOSP is ideal for training robotic operators, as a research aid, and for studying the mathematical and physical foundations of robotic manipulators, thanks to its ability to permit the expression of models that closely simulate the behavior of real systems within a feature-packed user-friendly interface.
AB - This paper describes the design and development of the modeling and simulation environment for the robotic manipulators named ROBOMOSP (Robotics Modeling and Simulation Platform), which addresses important limitations of existing software for this purpose, under a highly parametric interface ideal for academics and research. The ROBOMOSP software platform adds novel characteristics and functions that are not found in other commercial and noncommercial robot modeling and simulation packages available today, including solution to the multibody dynamics problem using automatic calculation of the mass properties of robot multibodies, offline programming using a standard language, an API interface to allow experimentation with new algorithms, and support for remote/distributed use of the platform via socket communications. ROBOMOSP is ideal for training robotic operators, as a research aid, and for studying the mathematical and physical foundations of robotic manipulators, thanks to its ability to permit the expression of models that closely simulate the behavior of real systems within a feature-packed user-friendly interface.
KW - Manipulator dynamics
KW - Manipulator kinematics
KW - Offline programming of robotic manipulators
KW - Robot trajectory planning
KW - Robotics manipulator modeling and simulation
UR - https://www.scopus.com/pages/publications/33947414386
U2 - 10.1109/MRA.2006.250572
DO - 10.1109/MRA.2006.250572
M3 - Article
AN - SCOPUS:33947414386
SN - 1070-9932
VL - 13
SP - 62
EP - 73
JO - IEEE Robotics and Automation Magazine
JF - IEEE Robotics and Automation Magazine
IS - 4
ER -