A Robotics Modeling,Design and Simulation Toolbox in Ptolemy Ⅱ
作者单位：Faculty of Computer Science ＆ Computer EngineeringHo Chi Minh City University of TechnologyHo Chi Minh CityVietnam Computer Science DepartmentWayne State UniversityUSA
会议名称：《2010 Chinese Control and Decision Conference》
会议日期：2010年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
关 键 词：Robotics Modeling Simulation PtolemyⅡ
摘 要：正This paper presents an experimental toolbox for modeling,design and simulation in robotics.Experimental is understood in the sense that the toolbox is based on an actor-oriented modeling and design environment,i.e.,the PtolemyⅡ***Ⅱsupports system development by a hierarchical refinement of possibly heterogeneous subsystems. Currently the toolbox provides basic features such as the automatic generation of mampulator kinematic and dynamic equations, collision detection,and motion *** toolbox profits naturally from the infrastructure of PtolemyⅡ.