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By A. Jimenez, B. Al-Hadithi

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3. 1 Definition of Simulation Shannon (1998) offered a good definition of simulation: “We will define simulation as the process of designing a model of a real system and conducting experiments with this model for the purpose of understanding the behaviour of the system and/or evaluating various strategies for the operation of the system”. Robot simulation software or simulator is a computer program which mimics the elements of both the internal behaviour of a realworld system and the input processes which drive or control the simulated system.

3 shows the dynamic model where an external force acts on the end-effector. The block dymodall which calculates ˙ H, h and g and then joint accelerations are calculated the system vectors and matrices x, J, J, using Lagrangian equation. (b) Planar Manipulators Toolbox with SD/FAST In this case we use Planar Manipulators Toolbox but the dynamic model is calculated SD/FAST library. SD/FAST can be used to perform analysis and design studies on any mechanical system which can be modelled as a set of rigid bodies interconnected by joints, influenced by forces, driven by prescribed motions, and restricted by constraints (SD/FAST, 1994).

The second advantage of using this methodology is the level of detail that we can get from the simulation. A simulation can give results that are not experimentally measurable with our current level of technology. Results such as time taken to complete the simulation and the details of collision detection of the simulation are not measurable by any current device. There are also disadvantages to performing this methodology for robotic simulation. The first is simulation errors. Any incorrect key store for the value of the robot’s details has the potential to alter the result of the simulation or give the wrong result.

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