SOFTWARE SIMULADOR DIDÃTICO APLICADO À ROBÓTICA

Abstract

A computational model of a mathematicalsystem can be conveniently used to check project withouthaving to posses the project itself. In robotic studies, this is acritical aspect, owing to the fact that robots have a highcost. This project aims to develop a low cost didactic toolable to attend the requirements in the robotic manipulatorssubject. A Robotic Simulator was built using the C++language. Thought it, it is possible to study some kinds ofmanipulators: Articulated, Spherical, Cylindrical, Cartesianand the SCARA. The geometric and Denavit-Hartenbergmethods were used in the kinetics solution of reverse anddirect respectively. The robot can be programmed andcontrolled through inner devices. For a better understandingof the available tools, a tutorial was created to guide thesoftware operation. Summarising, this software can be usedas a main tool in Robotics Introduction courses, replacingparts, high cost physical platforms.