Advanced Robot Manipulator Simulator

Multi-DOF robot manipulator designer and simulator

model the kinematics and dynamics of robot manipulators. A complete description of the procedure to model and control a Multi-DOF 3D robot manipulator is detailed and simulated using designed toolbox in MATLAB. Examples of motion planning, symbolic dynamic derivation and control strategy designs are presented. Advanced motion planning by constrained optimization has been developed and verified by this toolbox. One of the advanced position controllers for robot manipulators is the Sliding Mode Control with desired gravity and friction compensation which has been applied and verified in the toolbox. Force contacts and collisions are modeled in nonlinear near real situations. This helps designing more robust force controlled systems.