Introduction:

NOTE: This page has moved Robomosp

ROBOMOSP was originally developed as a low-level robotics library (during 1994-5) intended to aid my Engineering students in learning the fundamental theory of robotics manipulators (i.e. spatial transformations, kinematics, trajectory planning, and dynamics) and through the years, and contributions from a handful of my competent former alumni (some of whom are listed below), it has evolved into a full-fledged commercial-grade design, 3D modeling and simulation, and control tool that goes beyond the basics of serial chain manipulators (e.g. free-flying, free-floating, closed-chain and branched systems).

Since its conception, it has proven to be an invaluable tool in academia, for confronting theoretical concepts otherwise difficult to grasp on paper, and in actual technological settings (mainly in other research labs and industry) as an enabling instrument for design optimization of new and existing topologies, and off-line simulation, programming and control of commercial manipulators. It certainly allowed my students to experiment and train in-silico before ever using the expensive hardware installed in the automation laboratories available at the Pontificia Universidad Javeriana (in Cali, Colombia).

I am now at Caltech (http://www.wag.caltech.edu/home/ajaramil) and given the number of requests I have received to release the code as open source or to allow controlled access to it, I am setting up this site as an image URL to enable future revision control of contributed components.

Andres Jaramillo-Botero

Description:

ROBOMOSP has been developed to be used in academia and industry. It is a cross-compatible system that currently works under MS Windows, Unix/Linux and MacOSX operative systems.

ROBOMOSP has a user friendly GUI that allows both on-line and off-line programming of robotic manipulators. Programming is graphical and it is supported by 3D CAD models.

ROBOMOSP has been developed using a modular approach and it supports user defined API development through a de-facto standard scripting language.

• 3D modeling and simulation of open, closed and branched kinematic systems (using wireframe, filled, flat shaded or smooth shaded views and CSG operations on graphical elements).
• Inverse and Forward Kinematic solvers and simulation (generic and closed form).
• Automated parameter estimation from design (e.g. link mass parameters from CAD drawings and material properties).
• O(n) Inverse and Forward Dynamics solvers based on Newton-Euler and Lagrange-Euler formulations (generic and closed form).
• Trajectory planning (analytical and numerical Cartesian space functions supported).
• Off-line and on-line programming (IRL and IOCI, respectively).
• Other modules include: fixed-base, free-floating and free-flying modeling and simulation, serpentine motion, real-time control modules.

Lead Designer and Developer:

• Andres Jaramillo Botero, Ph.D. (Director)

Acknowledgements:

Many have contributed their experience in using ROBOMOSP, and their feedback has been very important in improving the newer versions. Nevertheless, an important part of the hard work involved in putting the different ideas into validated solutions for ROBOMOSP has come from some of my former students and colleagues, including most notably:

• Wilber Perea (currently in Canada)
• Antonio Matta (currently at UPM, Spain)
• Juan Fernando Correa (currently at UPM, Spain)
• Julian D. Colorado (currently at UPM, Spain)
• Juan C. Acosta (currently at l'Université Pierre et Marie Curie, Paris, France)
• Maria Constanza Pabon (Director, Computer Engineering program @ PUJ)
• Olver Ramos
• Gloria Meneses
• Juan David Hernandez

Citing ROBOMOSP:

Jaramillo-Botero, A. et al, Robotics & Automation Magazine, IEEE, Dec. 2006, Volume: 13, Issue: 4, pp: 62-73, ISSN: 1070-9932, INSPEC Accession Number: 9211740