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A Simulation Framework for Robotic System Design

[+] Author Affiliations
David Wilkie, Richard Primerano, William Regli

Drexel University, Philadelphia, PA

Paper No. DETC2007-35645, pp. 429-435; 7 pages
  • ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 27th Computers and Information in Engineering Conference, Parts A and B
  • Las Vegas, Nevada, USA, September 4–7, 2007
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4803-5 | eISBN: 0-7918-3806-4
  • Copyright © 2007 by ASME


This paper proposes a framework for the physically based modeling of robotic systems. The framework focuses on integrating a mechanical engineering assembly model with an electrical engineering controller model in a co-simulation. The simulated results can be used for the evaluation of robotic system designs. This paper surveys existing algorithms and software packages that could be used to implement the framework. The framework is illustrated using a biologically inspired robot as a case-study.

Copyright © 2007 by ASME
Topics: Simulation , Design , Robotics



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