• DocumentCode
    1490565
  • 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
  • Volume
    4
  • Issue
    3
  • fYear
    1997
  • Firstpage
    21
  • Lastpage
    29
  • 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;
  • fLanguage
    English
  • Journal_Title
    Robotics & Automation Magazine, IEEE
  • Publisher
    ieee
  • ISSN
    1070-9932
  • Type

    jour

  • DOI
    10.1109/100.618020
  • Filename
    618020
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1490565