Newsgroups: comp.robotics
Path: brunix!uunet!zaphod.mps.ohio-state.edu!sdd.hp.com!ux1.cso.uiuc.edu!m.cs.uiuc.edu!miles!spence
From: spence@miles.cs.uiuc.edu (Rob Spence)
Subject: Robot Simulation Program
Message-ID: <1992Jun11.192853.14715@m.cs.uiuc.edu>
Summary: simulation,robot
Sender: news@m.cs.uiuc.edu (News Database (admin-Mike Schwager))
Organization: University of Illinois, Dept. of Comp. Sci., Urbana, IL
Date: Thu, 11 Jun 1992 19:28:53 GMT
Lines: 27

I've written a robot simulation program that will simulate
any manipulator that can be specified by DH paramters, with square
or cylindrical links of arbitrary size. The program is written for
a Macintosh. The only dynamics included are double integrators on
each of the joint and the program can either cause the robot to
move directly from one joint space position to another or move under
the influence of a lead or lag controller with a step input.
The program also supports multiple obstacles and pick and place
operations.

The program is currently being alpha tested by a friend, after which
I will post it to some of the mac archives and this newsgroup. I
suppose if there is enough interest, I can post the current version,
but I make no claims as to its effectiveness. I don't intend to 
charge any money for it, since it looks like there is a need for a 
simulation package that people don't demand $2K for. As such, I'll
probably make it postcardware, or something.

Slainte,
Rob
spence@cs.uiuc.edu


--
Rob Spence
University of Illinois
spence@gog.cs.uiuc.edu
