Symbolic robot simulation software for educational purposes

This paper presents a robot simulation software developed in Matlab environment for mostly educational purposes. The software works with open-chain, series robots, and is able to compute models, plan trajectory, and simulate the robot motion according to its dynamics. In order to increase visuality, the software generates a virtual model of the robot. Several ways of model calculation are implemented, most of them based on the Denavit-Hartenberg convention, and some of them on the differential geometric approach, which uses twists, screws and wrenches. One of the main goals is to provide a software tool for students that makes a better understanding of the relation between robot motion and its physical properties. On the other hand, the software tool assists teachers to check handwritten homeworks in robotic courses.