Robotics Simulation Laboratory (v. 2.1)

Institute for Aerospace Studies
University of Toronto

Copyright M. R. Emami, 2002



For the first time, you need to install the following on your machine:
1) CosmoPlayer, for viewing the simulation interface and 3D animation of robots. Click here to download the applet. (You can install it directly by choosing "Run this program...", or save it on your hard drive first and then install it by double clicking on the file.)
2) Java Development Kit V. 1.1.8, click here to download (or install) the package.
(Note that the simulation cannot be run by JDK version 2.)

(Assuming that you have already installed CosmoPlayer and JDK v1.1.8 on your machine. One time installation is required.)


This software is a simulation application for investigating Kinematics, Statics, Dynamics, and Linear Control of serial-link robot manipulators.  It is a versatile tool to build different different configurations of robot manipulators and analyze their performance. 

By clicking on ROBOT menu, a new, customized robot can be defined simply by introducing its kinematic and dynamic parameters ( only for dynamics and controls simulations ) in their specified blocks located on the Robot Parameters Window; or, as a default option, some predefined robots, such as PUMA560, STANFORD, SCORBOT-ER, and one configuration of a modular robot, namely ROBOTWIN arm, can be selected for the simulation.  Users can select the type of the simulation, i.e., Forward Kinematics, Inverse Kinematics, Differential Kinematics, Statics, Forward Dynamics, Inverse Dynamics and Controls by clicking on SIMULATION menu.  For each type of simulation, specific sets of input should be assigned on the Simulation Inputs Window.  Each scalar or vector input can be defined as a constant, ramp, sinusoidal, or any arbitrary function of time.  By clicking on the Start button on the Simulation Input Window,  the simulation time of the experiment and the time increment for saving the data can be assigned.  Finally, the numerical results will be printed on the screen (for constant inputs), and the graphical  results and the 3D animation demonstration of the robot can be observed by clicking on the RESULT menu.


Last update:  October 27, 2007

2007 , M.R. Emami