RoboAnalyzer

3DModelBasedRoboticsLearningSoftware
UserManual
Features:
ForwardKinematics
InverseKinematics
ForwardDynamics*
InverseDynamics*
AnimationandPlots
VirtualRobotModule
IntegrationwithMATLAB

FreelyAvailableforAcademicUse!!!

September2014
DevelopedbyProfS.K.Saha&Team
MechatronicsLab,MechanicalEngineeringDepartment,IITDelhi,NewDelhi,India
Courtesy:CDCell,QIP,IITDelhi

http://www.roboanalyzer.com
*UsesReDySim DynamicFormulation(AppendixA)

PREFACE
Robotics is a field related to the design, development, control and application of robots in industry, education, research,
entertainment,medicalapplicationsetc.Sincethemathematicsinvolvedinthestudyofrobotics,e.g.,kinematicsanddynamicsis
initiallydifficulttounderstandbystudentsandsameisthecasebyateachertoconveytheessenceofmathematicsofroboticsto
the students. Also it has been difficult for students to learn because of limited ability to perceive and visualize the concepts
appropriatelyatthetimeofteaching.Withoutseeingarealrobotitisverydifficulttocomprehenditsmotioninthreedimensional
Cartesianspace.Hence,thereisaneedforaroboticslearningsoftware.
The work of combining the robot analyses algorithms in the form of software started in 1996 in the name of RIDIM (Recursive
Inverse Dynamics for Industrial Manipulator). But it had only analysis part with plot facilities. The development of RoboAnalyzer
started in 2009. RoboAnalyzer, a 3D model based software, can be used to teach robotics subjects to undergraduate and
postgraduate courses in engineering colleges in India and elsewhere. It can be used to learn DH parameters, kinematics and
dynamicsofserialrobotsandallows3Danimationandgraphplotsasoutput.Inessence,learn/teachthephysicsofroboticswiththe
joyofRoboAnalyzeranimationsbeforeattemptingtolearnthemathematicsofrobots.
RoboAnalyzerisdevelopedintheMechatronicsLab,DepartmentofMechanicalEngineeringatIITDelhi,Indiaundertheguidanceof
Prof.S.K.Saha.Thefollowingstudentsaregivenduecreditsinitsdevelopment.
S. Goel and S. Ramakrishnan (199697) : Algorithm development for Recursive Inverse Dynamics for Industrial Manipulators
(RIDIM)
A.Patle(200001):WindowsinterfaceforRIDIM
RajatJain(200910):AddedGraphplotstoRIDIM
SurilVShah(200711):RecursiveDynamicsSimulator(ReDySim)Algorithm[AppendixA]
Rajeevlochana C.G. (2009 2013) : User Interface, 3D Modeling of robot, Forward Kinematics, Animation, Graphplot, DH
Visualize,VirtualRobotModule,IntegrationwithMATLAB
AmitJain(201011):C#implementationofDeNOCbasedInverseandForwardDynamics(ReDySim)
JyotiBahuguna(201112):InverseKinematicsModuleandMotionPlanning
RatanSadanandO.M.(201214):ConversionofCADmodelsforVirtualRobotModules,Version7Enhancements
RaviJoshi(2014):Version7Enhancements

CONTENTS
1. GETTINGSTARTED.................................................................................................................................................................1
2. INTRODUCTIONTOROBOANALYZER......................................................................................................................................1
3. DENAVITHARTENBERGPARAMETERSVISUALIZATION...........................................................................................................5
4. FORWARDKINEMATICS.........................................................................................................................................................6
5. INVERSEKINEMATICS.............................................................................................................................................................9
6. INVERSEDYNAMICS.............................................................................................................................................................10
7. FORWARDDYNAMICS..........................................................................................................................................................12
8. MOTIONPLANNING.............................................................................................................................................................13
9. GRAPHPLOTOPTIONS.........................................................................................................................................................14
10.

SAVINGANDOPENINGSKELETONMODELS......................................................................................................................14

11.

VIRTUALROBOTMODULE................................................................................................................................................15

12.

MATLABINTEGRATION.....................................................................................................................................................16

13.

REFERENCES.....................................................................................................................................................................16

APPENDIXA:RECURSIVEDYNAMICSSIMULATOR(REDYSIM).........................................................................................16

RoboAnalyzerUserManual

http://www.roboanalyzer.com

1. GETTINGSTARTED
This section helps you get started with the installation of RoboAnalyzer, a 3D Model Based Robotics Learning
System.IthasbeendevelopedusingOpenTKandVisualC#.

1.1. MINIMUMSYSTEMREQUIREMENT
Processor:Atleast1.5GHz
RAM:Atleast512MB
OperatingSystem:WindowsXP,WindowsVista,Windows7
Dependencies:Microsoft.Net2.0framework

1.2. INSTALLATION
RoboAnalyzercanbeinstalledonacomputerbydownloadingitfromourwebsite.Thelatestversionofthe
software (Version 7) is available for free at http://www.roboanalyzer.com. The following are the steps to
installRoboAnalyzer:

Step1:Visithttp://www.roboanalyzer.com
Step2:ClickonDownloadstab
Step3:ClickonRoboAnalyzerV7(orlatestversion)todownloada.zipfile
Step4:Apopupwindowwillappear.SelectthefolderwherethefilehastobesavedandclickonSave
Step5:Afterdownloadingiscomplete,unzipRoboAnalyzer7.ziptoanyfolderonyourcomputer.Openthe
folderRoboAnalyzer7
Step6:DoubleclickonRoboAnalyzer.exetostartRoboAnalyzer.

2. INTRODUCTIONTOROBOANALYZER
RoboAnalyzer is a 3D Model Based Robotics Learning Software. It has been developed to help the faculty to
teachandstudentstolearntheconceptsofRobotics.Italsoactsasasupportingmaterialforthecontentson
variousroboticstopicsintextbookentitledIntroductiontoRobotics,S.K.Saha,2014[1].

2.1. MODELAROBOT
Double click on RoboAnalyzer.exe starts RoboAnalyzer. By default, it shows a robot model (2R). Users can
selectarobotfromtheoptionsgivenattheleftbottomcorneroftheapplicationasshowninFigure1.
Afterselectingarobotmodel,userscanmodifytheDenavitHartenberg(DH)parametersshowninthetabular
formandtherobotmodelupdatesautomatically.Afewindustrialrobotsarealsolisted,whenselectedshows
a3DCADmodeloftherobot(Figure2).

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Figure1:SelectRobotModelandRedefineDHParameters

Figure2:3DCADModelofIndustrialRobot

2.2. FEATURESOFROBOANALYZER
RoboAnalyzer can be used to perform kinematic and dynamic analyses of serial chain robots/manipulators.
ThefollowingarethemainfeaturesofRoboAnalyzer:
DHParameterVisualization(Section3)
ForwardKinematics(Section4)
InverseKinematics(Section5)
InverseDynamics(Section6)
ForwardDynamics(Section7)
MotionPlanning(Section8)

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2.3. OVERVIEWOFUSERINTERFACE
RoboAnalyzerseasytouseGraphicalUserInterface(GUI)consistsofthefollowingasshowninFigures3,4
and5.
1. RobotSelectionandDHParameterssection
2. VisualizeDHsection
3. 3DModelBrowser
4. 3DModelView
5. GraphPlotTreeView
6. GraphPlotWindow
7. InverseKinematicsWindow

Figure3:UserInterfaceof3DModelView

Figure4:UserInterfaceofGraphPlotView
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Figure5:UserInterfaceofInverseKinematicsWindow

2.4. 3DMODELVIEWOPTIONS
RoboAnalyzerletstheusertozoom,rotateandpanthe3Dmodeltohavebettervisualization.Thesecanbe
usedasexplainedbelowandshowninFigure6.
Zoom:Placethemousecursoranywhereon3DModelViewandusethemousewheeltozoominandzoom
out.ItcanalsobedonebyclickingonZoomInandZoomOutbuttons.
Rotate:Presstherightmousebuttonanddragthemousecursoranywhereonthe3DModelViewtorotate
themodelinthebrowserform.
Pan: Press the left mouse button and drag the mouse cursor anywhere on the 3D Model View to
pan/translatethemodelinthebrowserform.
StandardViews:Selectanystandardviewfromthedropdownandthemodelviewupdates.

Zoom
In/Out

Standard
Views
Figure6:3DModelViewOptions

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3. DENAVITHARTENBERGPARAMETERSVISUALIZATION
ThearchitectureofindustrialrobotsisusuallyrepresentedbyDenavitHartenberg(DH)parameters.Itformsthe
basisforperformingkinematicanddynamicanalysesofrobots.AsetoffourDHparametersisusedtorepresent
thepositionandorientationofarobotlinkwithrespecttoitspreviouslink.MoredetailsonDHparameterscan
befoundinChapter4of[1].

3.1. VISUALIZEDH
AfterselectingarobotandredefiningDHparametersasexplainedinSection2.1,userscanvisualizeeachDH
parameterbyselectingajointandthenselectingaDHparametertypeasshowninFigure7.Onceitisdone,
thecorrespondingDHparameterishighlightedintheDHparameterinputtableandatransformationframe
moves in the 3D robot model. It shows the two coordinate frames corresponding to the selected DH
parameter.
Users can click on Together button and a coordinate frame moves covering all the four DH parameters
correspondingtotheselectedjoint.
UserscanclickonBaseFrametoEndEffectorbuttontoseeacoordinateframemovingfrombaseframeto
endeffectorframecoveringalltheDHparametersoftherobotmodel.

Figure7:VisualizeDHParameters

3.2. LINKCONFIGURATION
The configuration/ transformation of a coordinate frame (DH frame) attached on each robotlink can be
determinedwithrespecttoaframeattachedtoitspreviouslinkorbaseframebyfollowingthestepsbelow
andasshowninFigure8.
Selectajoint.IfJoint1isselected,itcorrespondstocoordinateframeattachedonLink1.
SelectPreviousLinkFrameorBaseFrameasthereferenceframewithrespecttowhichthetransformation
needstobedetermined.
ClickonUpdatebuttonand4X4transformationmatrixispopulated.Apairofcoordinateframesisshownin
3Drobotmodeltohelpuserinvisualizingthetransformation.
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Figure8:LinkConfiguration

3.3. ENDEFFECTORCONFIGURATION
Theendeffectorconfiguration/transformationcanbedeterminedwithrespecttothebaseframedirectlyby
usingtheUpdatebuttonasshowninFigure9.The4X4transformationmatrixispopulatedandapairofco
ordinateframesisshownin3Drobotmodeltohelpuserinvisualizingthetransformation.

Figure9:EndEffectorConfiguration

4. FORWARDKINEMATICS
In the forward or direct kinematics, the joint positions, i.e. the angles of the revolute joints and the
displacements of the prismatic joints, are prescribed. The task is to find the endeffectors
configuration/transformationconsistingofitspositionandorientation.MoredetailscanbefoundinChapter6
of [1]. After selecting a robot and redefining DH parameters as explained in Section 2.1, forward kinematics
(FKin)isperformedwhichupdatesthe3Dmodel.
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4.1. ANIMATIONOFFKIN
Toperformanimationoftherobotmotionbetweentwosetsofinitialandfinalvaluesofjointvariables,the
followingarethestepsasshowninFigures10and11.Thetrajectoryofjointvalues,jointvelocitiesandjoint
accelerations follow Cycloidal trajectory mentioned in Chapter 8 of [1]. The trajectory can be changed as
explainedinSection8.

1. Settheinitialandfinalvaluesofjointvariables
2. SetTimeDurationandNumberofSteps
3. ClickonFKinbutton
4. ClickonPlaybuttontoseetheanimation
5. Theendeffectortracecanbeviewed

Figure10:InitialPositionofallJoints

Figure11:FinalPositionofallJointsandTraceofEndEffector

4.2. GRAPHPLOTSOFFKIN
Toviewthegraphplotsofaforwardkinematics(animation)analysis,thefollowingarethestepsasshownin
Figures12,13and14.

1. ClickonGraphtab
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2. Clickon+nexttothelinkofwhichtheplotsaretobeviewed
3. ClickonboxtoplotgraphofaparticularnodetoseeX,YandZplots
4. Clickon+nexttothejointofwhichtheplotsaretobeviewed
5. Clickonboxtoplotgraphofaparticularnodetoseejointvalue(jointangleforrevolutejointandjoint
offsetforprismaticjoints),jointvelocityandjointacceleration

Figure12:GraphPlotsofFKinData

Figure13:GraphPlotsofPositionofCoordinateFrameattachedtoLink3

Figure14:GraphPlotsofInputTrajectorytoJoint3(CycloidalTrajectory)
MoredetailsandinformationontheGraphPlotoptionscanbefoundinSection9.
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5. INVERSEKINEMATICS
InverseKinematics(IKin)consistsofdeterminationofthejointvariablescorrespondingtoagivenendeffectors
orientationandposition.Thesolutiontothisproblemisoffundamentalimportanceinordertotransformthe
motionspecificationsassignedtotheendeffectorintheoperationalspaceintothecorrespondingjointspace
motions.Theremaybemultipleornoresultspossibleforagivenendeffectorpositionandorientation.More
detailscanbefoundinChapter6of[1].

5.1. SOLUTIONSOFIKIN
To select a robot and view the solutions of its Inverse Kinematics, the following are the steps as shown in
Figures15and16.Infuture,anIKinsolutioncanbeselectedand3Dmodelwillbeupdatedaccordingly.

1. ClickonIKinbutton.Itshowsaseparatewindow(Figure16)
2. SelectaRobot
3. EnterInputparameters
4. ClickonIKinbutton
5. Viewthepossiblesolutions
6. ClickonShowbutton.Itshowstheselectedsolutionin3DModelwindow.Toseethisgobacktomain
windowbyminimizingIKinwindow
7. Selectanyoftheobtainedsolutionasinitialandfinalsolution
8. ClickonOK.ThisstepreplacestheinitialandfinaljointvaluesinDHParametertable
(Mainwindow)byvaluesselectedinstep7
9. ClickonFKinbuttontoviewanimationi.e.howrobotmovesfromonesolutiontoanothersolutionselected
instep7

Figure15:InverseKinematicsButton

RoboAnalyzerUserManual

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Figure16:InverseKinematicsof3RArticulatedRobot

6. INVERSEDYNAMICS
InverseDynamics(IDyn)isadynamicsproblem,wheretherobotgeometric,inertialparameters,andthejoint
motionsi.eitspositions,velocitiesandaccelerationaregivenandthecorrespondingjointtorquesorforcesare
calculated.InRoboAnalyzer,thedynamicssolverisbasedonReDySimalgorithm,whichusesDecoupledNatural
OrthogonalComplement(DeNOC)Matricesbasedrecursiveformulation.MoredetailsonReDySimcanbefound
at[2].MoredetailsonInverseDynamicsandDeNOCcanbefoundinChapters8and9respectivelyof[1].

6.1. SOLUTIONOFIDYN
SelectarobotandredefineDHparametersasexplainedinSection2.1,tosolveforIDynoftherobotbetween
twosetsofinitialandfinalvaluesofjointvariables,thefollowingarethestepsasshowninFigures17,18,and
19. The trajectory of input joint values, joint velocities and joint accelerations follow Cycloidal trajectory
mentionedinChapter8of[1].ThetrajectorycanbechangedasexplainedinSection8

1. Settheinitialandfinalvaluesofjointvariables
2. SetTimeDurationandNumberofSteps
3. SetGravity(allvaluesshouldbeinSIunits,i.e.m/s^2)
4. SelectarobotlinktoenteritsCenterofGravity(CG)location.ItcorrespondstoavectorfromtheCGofthe
robotlinktotheoriginofthecoordinateframeattachedtothatlink,measuredinthereferenceoftheco
ordinateframeattachedtothatlink.
5. SelectMassPropertiesofarobotlink.SetMassofeachrobotlink(valuesshouldbeinSIunits,i.e.kg)and
setInertiatensorofeachrobotlinkwithrespecttothecoordinateframeattachedattheCGoftherobot
linkandthecoordinateframeisparalleltotheoneattachedtotherobotlink(valuesshouldbeinSIunits,
i.e.kgm^2).Thesevaluesaretobeenteredmanuallyandnotcalculatedautomaticallyfromtheshapeof
therobotlinks.
6. ClickonFKinbutton(requiredtopopulatetheinputjointtrajectory)
7. ClickonPlaybuttontoseetheanimation(onlyforvisualizationpurpose,notnecessaryforIDyn)
8. ClickonIDynbuttontoperformInverseDynamics
9. lickonGraphtabtoviewthegraph

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Figure17:InverseDynamicsSettings

Figure18:SetCenterofGravityforInverseDynamics

Figure19:SetMassandInertiaPropertiesandPerformInverseDynamics
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6.2. GRAPHPLOTSOFIDYN
Toviewthegraphplotsofjointtorquesandforces,thefollowingarethestepsasshowninFigure20.

1. Clickon+nexttothejointofwhichtheplotsaretobeviewed
2. Clickonboxtoplotgraphofjointtorque/force

Figure20:GraphPlotofJointTorque/Force

MoredetailsandinformationontheGraphPlotoptionscanbefoundinSection9.

7. FORWARDDYNAMICS
ForwardDynamics(FDyn)isadynamicsproblem,wheretherobotgeometric,inertialparameters,andthejoint
torquesandforcesaregivenandthejointaccelerationsarecalculated.ThedynamicssolverusesReDySim[2]as
inIDyn.MoredetailsonForwardDynamicscanbefoundinChapters8and9of[1].

7.1. SOLUTIONOFFDYN
Select a robot and redefineDHparameters as explained inSection2.1, to solve forFDynof the robot for a
given initial values of joint variables, please refer to Section 6.1 to perform steps 1 to 5 mentioned below.
Thenperformsteps6,7and8asshowninFigure21.

1. Settheinitialvalueofjointvariables
2. SetTimeDurationandNumberofSteps
3. SetGravity(allvaluesshouldbeinSIunits,i.e.m/s^2)
4. SelectarobotlinktoenteritsCenterofGravity(CG)location.Itcorrespondstoavectorfromthe
CGoftherobotlinktotheoriginofthecoordinateframeattachedtothatlink,measuredinthereferenceof
thecoordinateframeattachedtothatlink.
5. SelectMassPropertiesofarobotlink.SetMassofeachrobotlink(valuesshouldbeinSIunits,i.e.kg)and
setInertiatensorofeachrobotlinkwithrespecttothecoordinateframeattachedattheCGoftherobot
linkandthecoordinateframeisparalleltotheoneattachedtotherobotlink(valuesshouldbeinSIunits,
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i.e.kgm^2).Thesevaluesaretobeenteredmanuallyandnotcalculatedautomaticallyfromtheshapeofthe
robotlinks.
6. ClickonFDynbuttontoperformForwardDynamics.Therobotissimulatedforfreefallduetotheactionof
gravity.Infuture,jointtorques/forcescanbesetasinput.
7. ClickonPlaybuttontoseetheanimation
8. ClickonGraphtabtoviewthegraph

Figure21:ForwardDynamics

7.2. GRAPHPLOTSOFFDYN
Toviewthegraphplotsofjointaccelerationsandpositionoflinks,followthestepsmentionedinSection4.2.

8. MOTIONPLANNING
The goal of motion planning of a robot is to generate a function according to which a robot will move. This
function generation depends on the robot tasks. A robot user typically specifies a number of parametersto
describe a pointtopoint or continuouspath task. Trajectory planning algorithm then generates thereference
inputsforthecontrolsystemofthemanipulator,soastobeabletoexecutethemotion.Thegeometricpath,
the kinematic and dynamic constraints are the inputs of the trajectory planning algorithm, whereas the
trajectory of the joints (or of the end effector), expressed as a time sequence ofposition, velocity and
accelerationvalues,istheoutput.Trajectoryplanningcanbedoneeitherinthejointspace,i.e.,intermsofjoint
positions,velocitiesandaccelerations,orCartesianspace(alsocalledoperationalspace)i.e.,intermsoftheend
effector positions, orientations, and their time derivatives.More details on Motion Planning can be found in
Chapter11of[1].

8.1. SOLUTIONOFMOTIONPLANNING
Select a robot and redefine DH parameters as explained in Section 2.1.For a given initial values of joint
variables,Motionplanningoftheselectedrobotcanbeperformedbyselectingparticularmotiontrajectoryas
showninFigure21followedbysteps1to5mentionedinsection4.1.

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Figure21:MotionPlanning

http://www.roboanalyzer.com

9. GRAPHPLOTOPTIONS
TheanalysesresultsforFKin,IDynandFDyncanbeviewedasgraphplotsasexplainedinSections4.2,6.2and
7.2respectively.SeveraloptionsforgraphplotfunctionalitesareexplainedbelowandasshowninFigure22.
1. Selectagraphplotnode
2. Settheplotcolor,symbolandlinestyle
3. Rightclickongraphtoshowamenu.Hereyoucanusevariousoptionstozoom,printetc
4. ExportDataasCSV:ExportplotdatathatcanbeopenedinaspreadsheetsuchasMSExcel
5. UseMousewheeltozoominandout
6. PressMousewheelanddragthemousetopanaroundthegraph

Figure22:GraphPlotOptions

10. SAVINGANDOPENINGSKELETONMODELS
TheskeletonmodelscanbesavedaftermodifyingtheDHparametersandmassinertiapropertiesasperthe
convenience.
1.

Tosaveaskeletonmodel:
a. ClickonFilemenu
b. SelecttheSaveoption.
c. Savetherobotintherequireddirectorywithasuitablefilename.Thefileextensionmustbe.xml.
d. TheSavewindowcanbeopenedusingtheshortcut,CTRL+S.
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2.

http://www
w.roboanalyzeer.com

To
oopenaprevio
ouslysavedskeletonmodel:
a.. ClickonFilemenu
b.. SelecttheOpenoption.
c. Navigateto
otherequiredd
directoryando
openthepreviiouslysavedm
model.
d.. Theopenw
windowcanbeopenedusingtheshortcut,CTRL+O.

11. VIRT UALROBOTTMODULE

TheVirtu
ualRobotMod
duleinsideRob
boAnalyzerletsstheuserselecctanindustrialrobotmodel(CADModel)aand
changetthejointanglesusingasliderrorusingbutto
ons.Itcanbeu
usedasalearn
ningtooltoteaachjointlevel
joggingo
ofrobots.Aso
ofthisversion,CADmodelso
of17industrialrobotscanbeeloaded.Thefo
ollowingstepsare
tobefollowed(asillusstratedinFigurres2324).
1. ClicckonMoreRobotsbutton.
2. An
newwindow/fo
ormisshown.BydefaultCAD
Dmodelofaro
obotisdisplayeed.
3. Sellectarobotfro
omthedropdo
ownandclicko
onLoad.
4. Useeslideronthelefttochangeeeachjointanggle.Notethatallthejointan
ngleshaveminimumand
maaximumvaluessaspertheirsp
pecifications(jointlimit).
5. Buttonscanalsobeusedtochaangethevalueeofjointangle.
6. Theeendeffectorrtransformatio
onisupdatedw
witheverychan
ngeinjointanggle(s).

Figure23:Click
F
konMoreRobotsButtonin
nRoboAnalyzeerWindow

Figure24:V
VirtualRobotM
Module
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12. MATLABINTEGRATION
VirtualRobotApplication(explainedinSection10)ismadeavailableasaCOMinterfacewhichcanbecalledand
controlledfromMATLAB.OthersoftwarewhichcaninterfacewithCOMobjects(suchasMSExcel,programs
developedinC++etc.)canalsousedtocontrolVirtualRobot.Atpresent,onlyVirtualKUKAKR5robotcanbe
controlledfromMATLAB.ThefollowingstepsaretobefollowedtoinstallVirtualRobotCOMonacomputer:
1. Download"VirtualRobotsCOM.zip"andunzipitinC:\drive
2. IfMATLABinstallationis32bitversion,rightclickonC:\VirtualRobotsCOM\register32.batand"Runas
Administrator"elseifMATLABinstallationis64bitversion,rightclickon
C:\VirtualRobotsCOM\register64.batand"RunasAdministrator"
3. Acommandwindowopens,executessomecodeandclosesonitsown(Installationiscomplete!).
4. OpenC:\VirtualRobotsCOM\virtualRobotInMatlab.minMATLABandrunit.VirtualRobotApplicationas
showninFigure25isdisplayed.
5. MATLABfilehasbriefcommentsontheworkflow.Jointanglesoftherobot(KUKAKR5)havetobeupdated
aspertheusersrequirementandalgorithm(suchasJacobiancontrol,Cartesianmotionplanningetc.)
6. DenavitHartenberg(DH)parametersofKukaKR5robotisgivenin"C:\VirtualRobotsCOM\
DHParameters_KukaKR5.pdf"

Figure25:VirtualRobotApplicationBeingControlledfromMATLAB

13. REFERENCES
[1]S.K.Saha,IntroductiontoRobotics,2ndEdition,TataMcGrawHill,NewDelhi,2014
[2]ReDySim,websiteaccessedonDecember28,2011,http://www.roboanalyzer.com/redysim.html

APPENDIXA:RECURSIVEDYNAMICSSIMULATOR(REDYSIM)
A.1.GENERALDESCRIPTION
RecursiveDynamicsSimulator(ReDySim)isaMATLABbasedrecursivesolver[A1]fordynamicanalysisof
roboticandmultibodysystems.ReDySimhascapabilitytoincorporateanycontrolalgorithmandtrajectoryplanner
with utmost ease. This ability provides flexibility to user/researcher in incorporating any customized algorithms.
ReDySimshowedconsiderableimprovement[A1]overthecommercialsoftwareandexistingalgorithmsinterms
ofbothcomputationaltimeandnumericalaccuracy.ReDySimhasthreemodulesasshowninTable1.

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Table1:DetailsofmodulesinReDySim

ModulesofReDySim
Demoswithinthemodule
1 BasicModule:FixedbaseSystems
3linkrobot,gripper,KUKArobot,fourbarmechanism,
(OpenandClosedloopSystems)
biped,longchain,3RRRparallelrobotandroboticleg
2 SpecializedModule:FloatingbaseSystems
3and 7link space robots, dualarm space robot, and
(a)ModuleforSpaceRobots
biped,quadrupedandhexapodleggedrobots
(b)ModuleforLeggedRobots
3 SymbolicModule
FixedbasePRrobot,2linkrobotandKUKArobot,and
(a)ModuleforFixedbasesystems*
floatingbase2linkspacerobot
(b)ModuleforFloatingbaseSystems
*Presently,onlyfixedbasesymbolicmodulecanmodelprismaticjoint.Itwillsoonbeaddedtoothermodules.

A.2.HOWTOINSTALLANDUSE
a)
b)
c)
d)
e)

RequireMATLAB2009aorhigherversioninordertouseReDySim.
Gotothewebpagehttp://www.redysim.co.nr/download.
Downloadtherequiredmoduleandunzipthedownloadedfolder.
Followtheinstructionmanualprovidedinthemoduletostartsolvingaproblem.
Foranalysisofanysystem,theinputsareenteredinthefilesshowninTable2(Seeinstructionmanual).

Table2:Detailsofthefilesinwhichinputsarerequiredtobeenteredforanalysis

Module
Submodule
input.m initial.m trajectory.m torque.m
1 Fixedbased
Inverse
Yes

Yes

+
Forward
Yes
Yes
Yes
Yes
2 Floatingbase
Inverse
Yes
Yes
Yes

Forward
Yes
Yes
Yes+
Yes
3
Symbolic
Fixed/Floating
Yes

jacobian.m

Yes++

inv_kine.m
Yes++

Desiredtrajectoryforcontrolledsimulation;++Thisfileisrequiredonlyinthecaseofclosedloopsystems

A.3.RUNDEMOS
a) OpenthedownloadedmoduleandselectInverse/forwarddynamicssubfolder.
b) Within inverse/forward dynamics folder, open the subfolder with name of the system to be analyzed, i.e.,
openfoldernamedbipedforanalysesofbiped.ThisfolderhastherequiredinputfilesshowninTable2.
c) Copyallthefilesfromthisfolderandpastethemininversedynamics/forwarddynamicsfolder.
d) Run function file run_me.m. This will simulate the system and plot the results of inverse dynamics (joint
torques)orforwarddynamics(jointmotions),totalenergy,etc.
e) Runanimate.mforanimatingthesystem.

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A.4.SNAPSHOTSOFSIMULATIONRESUTLSOFAFLAOTINGBASEBIPEDUSINGREDYSIM

FigureA.1:SnapshotsofsimulationresultsofabipedusingfloatingbasemoduleofReDySim

REFERENCE
A1.ShahS.V.,SahaS.K.,andDuttJ.K.,DynamicsofTreetypeRoboticSystems,IntelligentSystems,Controland
Automation:ScienceandEngineeringBookseries,Springer,Netherlands(ISBN9789400750050).

S.V.Shah,IIITHyderabad;S.K.Saha,IITDelhi;J.K.Dutt,IITDelhi

DynamicsofTreeTypeRoboticSystems

Series:IntelligentSystems,ControlandAutomation:ScienceandEngineering,Vol.62

Features
Indispensibleonestopresource
Presentsaframeworkfordynamicmodelingandanalysisoftreetype
roboticsystems
IntroducesconceptsofkinematicmoduleandEulerAngleJoints
Inclusionofclosedloopsystems
Illustrationofmodelbasedcontrol
ComeswithRecursiveDynamicsSimulator(ReDySim),afreesolver
fordynamicanalysis
18

Togetmoreinsighton

Robotics

"Comprehensive book that

presents a detailed exposition
of the concepts using a simple
and student friendly approach

Excellent coverage of Robotic

applications,
Homogeneous
transformation and Robotic
programming etc.

comprehensive coverage on
Drive Systems, Robot Control,
and Robot Applications
http://www.mhhe.com/saha/robotics

PublishedinMexico(Spanish)

PublishedinP.R.China

RoboAnalyzer
3DModelBasedRoboticsLearningSoftware
DevelopedbyProfS.K.Saha&Team
(Mr.RajeevlochanaC.G.,Mr.Amit Jain,Mr.Suril V.Shah,Ms.Jyoti Bahuguna,Mr.Ratan Sadanand andMr.RaviJoshi)

MechatronicsLab,MechanicalEngineeringDepartment,IITDelhi,NewDelhi,India
Contact:saha@mech.iitd.ac.in,roboanalyzer@gmail.com Website:http://www.roboanalyzer.com