A real-time dynamic simulation platform for 6R manipulators based on an explicit modeling method

Abstract Dynamic simulation is critical for robotic design and control. In this study, a modular platform developed using novel explicit dynamic modeling method. Combined with PD controller globally linearized compensator, the method presents an canonical form tree-chain closed-chain multi-body systems. Paired new approach, makes it convenient modeling, performs well in real-time high update frequency. The also offers thorough parameter setting scene presentation interface through construction of several modules. A experiment 6-DOF manipulator demonstrates platform’s capacity real-time, stable, practical simulations, which applicable high-DOF systems future uses.