Robot simulator based on a general-purpose structure model for machine

A robot simulator is presented which supports a robot operator to easily make a robot-operation planning, preceding the off-line teaching or programing. The simulator is based on the general-purpose structure model developed in the CAD system for general assembly units with motion. The model has not only geometrical model for each part but also relations of hierarchy and connectivity among components with two types of transformation matrices. The general method, not dependent on the type of robot, is reported, which provides the consistent algorithm to extract the necessary transformation matrices systematically from the structure model, to automatically generates the formula for motion analysis and synthesis as non-linear simultaneous equations, and to solve them. Some other unique functions utilizing the structure model are also shown.