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SnAP: A Comprehensive Software Package for the Simulation of Serial Manipulators

[+] Author Affiliations
E. A. González-Barbosa, M. A. González-Palacios, L. A. Aguilera-Cortés

Universidad de Guanajuato, Salamanca, Gto., México

Paper No. IMECE2008-67891, pp. 123-131; 9 pages
  • ASME 2008 International Mechanical Engineering Congress and Exposition
  • Volume 14: New Developments in Simulation Methods and Software for Engineering Applications
  • Boston, Massachusetts, USA, October 31–November 6, 2008
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4875-3 | eISBN: 978-0-7918-3840-2
  • Copyright © 2008 by ASME


The solution of kinematics problem for serial manipulators is fundamental for their analysis, simulation and computer control, for this reason, this paper introduces the software package called SnAP (Serial n-Axes Manipulators), which is developed under the ADEFID framework [1], where the manipulator is conceptualized as a derived class from CRobokin, CMachine and CIpiSModel, which are fundamental ADEFID classes. SnAP has been developed with efficient algorithms in a closed-loop solution to solve direct kinematics, whereas for the case of inverse kinematics, matrix formulation, elimination and numerical methods are implemented. Furthermore, for the architecture definition, the user is able to display a dialog box in which the design parameters are set while the solid model is updated simultaneously showing the actual configuration. Since ADEFID provides tools to graphical interface with embedded control components, SnAP adopted them to not only simulate virtually, but also with a parametric prototype designed for this purpose.

Copyright © 2008 by ASME



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