Development of a Simulation Platform for Robots with Serial and Parallel Kinematic Structure

The main aim of this article is the description of specialized software RoboSim for off-line programming and simulation of robotic systems developed at the University of Zilina during the last decade. It contains basic information about the development process of this universal software for simulation of automated workplaces equipped with one or more robots with up to 6 degrees of freedom (DOFs). The latest version can be used as a universal platform for simulation of mechanisms with serial, parallel as well as hybrid kinematic structure. This flexibility can be considered as the main advantage of the RoboSim software. Its specific feature is that there are two different methods used for calculation of inverse kinematics: heuristic and vector method as well. The versatility, openness and access to the source code create the predisposition for its deployment under laboratory conditions for controlling robotic devices developed in authors’ workplace within the last fifteen years.