Robots LIBRARY

    The DLR Robots Library is a innovative tool to simulate serial robot systems. The library features exchangeble robot models via a simple selection mechanism, algorithms for direct and inverse kinematics, dynamic rigid body models as well as path-planning algorithms for point-to-point trajectories.

    FEATURES OF THE LIBRARY

    • Easy selection of a robot model via the Modelica repaclable package mechanism
    • Model structure has not to be altered for robot switch (simple parameter)
    • URDF Importer available

    • Direct kinematics: Provides blocks for direct kinematics, jacobian, hessian matrix to a given robot model
    • Inverse kinematics: Several inverse kinematics methods available, e.g. analytical, damped least squares, constrained least squares with acceleration and velocity limits
    • Dynamic models: rigid-body dynamic models available

    • Multiple path-planning algorithms, as PTP in joint and cartesian space and with consideration of dynamic limits

    • Allows the user to write robot programs in LUA
    • Supports different PTP and movement commands, as well as digital and analogue IO to the Modelica model

    APPLICATION EXAMPLES