NDLI: SnAM: a simulation software on serial manipulators

Content Provider	Springer Nature Link
Author	González Palacios, M. A. González Barbosa, E. A. Aguilera Cortés, L. A.
Copyright Year	2011
Abstract	The solution of kinematics problems for serial manipulators is fundamental for their synthesis, analysis, simulation, and computer control; for this reason, this paper introduces a public domain package and open software called SnAM (Serial n-Axis Manipulators), which is developed under the ADEFID (ADvanced Engineering soFtware for Industrial Development) framework, where the manipulator is conceptualized as a derived class from CRobokin, CMachine and CIpiSModel, which are fundamental ADEFID classes. SnAM has been developed with efficient algorithms in a closed-loop solution to solve direct kinematics, whereas for the case of inverse kinematics, matrix formulation, elimination and numerical methods are implemented. Furthermore, for the architecture definition, the user is able to display a dialog box in which the design parameters are set based on the Denavit–Hartenberg convention with the aid of sliding bars, while the solid model is updated simultaneously showing the actual configuration. Since ADEFID provides tools to graphical interface with embedded control components SnAM adopt them to not only simulate virtually, but also with an adaptive prototype designed for this purpose. Furthermore, SnAM assists the user in tasks related to trajectory planning, collision-avoidance and three-dimension objects scanning.
Starting Page	87
Ending Page	94
Page Count	8
File Format	PDF
ISSN	01770667
Journal	Engineering with Computers
Volume Number	29
Issue Number	1
e-ISSN	14355663
Language	English
Publisher	Springer-Verlag
Publisher Date	2012-01-01
Publisher Place	London
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Serial manipulators Kinematics Software development Simulation Modeling Computer-Aided Engineering (CAD, CAE) and Design Math. Applications in Chemistry Systems Theory, Control Calculus of Variations and Optimal Control; Optimization Mechanics ApplicationMathematics/Computational Methods of Engineering
Content Type	Text
Resource Type	Article
Subject	Engineering Computer Science Applications Modeling and Simulation Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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