A robotics modeling, design and simulation toolbox in Ptolemy II

This paper presents an experimental toolbox for modeling, design and simulation in robotics. “Experimental” is understood in the sense that the toolbox is based on an actor-oriented modeling and design environment, i.e., the Ptolemy II environment. Ptolemy II supports system development by a hierarchical refinement of possibly heterogeneous subsystems. Currently the toolbox provides basic features such as the automatic generation of manipulator kinematic and dynamic equations, collision detection, and motion simulation. The toolbox profits naturally from the infrastructure of Ptolemy II.