open and run SMART_GUI.m in the matlab Files folder. Follow the directions in the Messages box.
The program can simulate only articulated robots, with indefinite number of degrees of freedom. A robot with six DOF is already configured but you can load your own robot with extension .STL and edit the parameters in the table that shows by pressing the button Edit Parameters in the Settings tab.
In the first tab you can edit the program settings, in the second you will give commands to the robot. In the tab Programs you can create a list of commands to run automatically and in the last tab you can simulate the dynamical behavior of the robot.
You can download the documentation of the program using the link provided in documentation file (in Portuguese only, in the future I will write in English).
There are some functionalities that I could not implement in this version. Hopefully they will be released in the future.
All suggestions for more features are welcome. If you found a problem please comment.

• Robotic Arm Simulation Software
• Game Simulation Software
• Robotic Arm Simulation Software Free

A robotics simulator is used to create application for a physical robot without depending on the actual machine, thus saving cost and time. In some case, these applications can be transferred onto the physical robot (or rebuilt) without modifications.

Robotics Toolbox for MATLAB is Free Software that provides functionality for representing pose (homogeneous transformations, Euler and RPY angles, quaternions), arm robots (forward/inverse kinematics, dynamics, simulation, animation) and mobile.

Robotmaster CAD/CAM for robots seamlessly integrates off-line programming, simulation and code generation, delivering quick, error-free robot programs. Accurate robot trajectories without teaching points “click-and-drag” interactive simulation/editing environment; automated robot motion optimization. Simulate any industrial robot with RoboDK. Generate robot programs for any robot controller directly from your PC. RoboDK is a powerful and cost-effective simulator for industrial robots and robot programming. The Robot Operating System (ROS) is a set of software libraries and tools that help you build robot applications. From drivers to state-of-the-art algorithms, and with powerful developer tools, ROS has what you need for your next robotics project. And it's all open source. Actin is a robotics control and simulation software package that brings new capabilities to your UR robot. Actin provides real-time adaptive robot control, simulation, and tasking. It is built to meet the rigorous requirements of industrial, commercial, collaborative, and consumer robotics applications. RoboDK software integrates robot simulation and offline programming for industrial robots. Deliver solutions for any industrial application, from robot machining applications to pick and place. Prepare your simulation in a matter of minutes! May 31, 2012  Robot Virtual Worlds is an advanced simulation software built around the powerful ROBOTC IDE. Users can program virtual LEGO Mindstorms NXT, EV3, VEX or TETRIX robots, either by using ROBOTC or visually via the Graphical Natural Language library extension, and observe their behavior in the 3D simulation environment which accurately renders these robots and their interactions.

The term robotics simulator can refer to several different robotics simulation applications. For example, in mobile robotics applications, behavior-based robotics simulators allow users to create simple worlds of rigid objects and light sources and to program robots to interact with these worlds. Behavior-based simulation allows for actions that are more biological in nature when compared to simulators that are more binary, or computational. In addition, behavior-based simulators may 'learn' from mistakes and are capable of demonstrating the anthropomorphic quality of tenacity.

One of the most popular applications for robotics simulators is for 3D modeling and rendering of a robot and its environment. This type of robotics software has a simulator that is a virtual robot, which is capable of emulating the motion of an actual robot in a real work envelope. Some robotics simulators use a physics engine for more realistic motion generation of the robot. The use of a robotics simulator for development of a robotics control program is highly recommended regardless of whether an actual robot is available or not. The simulator allows for robotics programs to be conveniently written and debugged off-line with the final version of the program tested on an actual robot. This primarily holds for industrial robotic applications only, since the success of off-line programming depends on how similar the real environment of the robot is to the simulated environment.

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Robotic Arm Simulation Software

Sensor-based robot actions are much more difficult to simulate and/or to program off-line, since the robot motion depends on the instantaneous sensor readings in the real world.

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• 2Simulators
  • 2.3Infrastructure
  • 2.4Features
• 3Other simulators
  • 3.1Robotic Simulators
  • 3.2Autonomous vehicle simulator

Features[edit]

Modern simulators tend to provide the following features:

• Fast robot prototyping
  • Using the own simulator as creation tool (Virtual Robot Experimentation Platform, Webots, R-Station, Marilou, 4DV-Sim).
  • Using external tools.
• Physics engines for realistic movements. Most simulators use ODE (Gazebo, LpzRobots, Marilou, Webots) or PhysX (Microsoft Robotics Studio, 4DV-Sim).
• Realistic 3d rendering. Standard 3d modeling tools or third party tools can be used to build the environments.
• Dynamic robot bodies with scripting. C, C++, Perl, Python, Java, URBI, MATLAB languages used by Webots, Python used by Gazebo.

Simulators[edit]

Game Simulation Software

Among the newest technologies available today for programming are those which use a virtual simulation. Simulations with the use of virtual models of the working environment and the robots themselves can offer advantages to both the company and programmer. By using a simulation, costs are reduced, and robots can be programmed off-line which eliminates any down-time for an assembly line. Robot actions and assembly parts can be visualised in a 3-dimensional virtual environment months before prototypes are even produced. Writing code for a simulation is also easier than writing code for a physical robot. While the move toward virtual simulations for programming robots is a step forward in user interface design, many such applications are only in their infancy.

General information[edit]

Technical information[edit]

Infrastructure[edit]

Support[edit]

Code Quality[edit]

Features[edit]

Families of robots[edit]

Robotic Arm Simulation Software Free

Supported actuators[edit]

Supported sensors[edit]

Other simulators[edit]

Robotic Simulators[edit]

Open source simulators[edit]

• breve: a 3D-world multi-agent simulator in Python.
• EZPhysics: Combination of Ogre3D and ODE physics, GUI exposes all of ODE's objects data, network closed loop remote control optionally via Matlab/Simulink.
• Gazebo Simulator: An open-source 3D robotics simulator used in a number of DARPA contests.
• Khepera Simulator an open-source Windows simulator for the Khepera robot predating Webots.^{[citation needed]}
• Klamp't : a simulator introduced in 2013 specializing in stable trimesh-trimesh contact. Supports legged locomotion and manipulation.
• LpzRobots: a 3D-physics robot simulator developed at the University of Leipzig.
• miniBloq: This robot programing software for Arduino boards has a new simulator.
• Moby: a rigid-body dynamics library written in C++.
• OpenSim Simulator for articulated and wheeled robots with a wide range of characteristics. Further development stopped in the year 2006.
• Robotics Toolbox for MATLAB is Free Software that provides functionality for representing pose (homogeneous transformations, Euler and RPY angles, quaternions), arm robots (forward/inverse kinematics, dynamics, simulation, animation) and mobile robots (control, localisation, planning and animation).
• ARTE A Robotics Toolbox for Education (ARTE) is a Free Software educational tool based on Matlab. It provides functions to represent position and orientation. As well, includes functions to simulate robotic arms (direct/inverse kinematics, dynamics, path planning and more). The toolbox includes a large set of 3D robotic models that can be viewed and simulated inside a robotic cell.
• Simbad 3d Robot Simulator Java based simulator
• SimRobot: A robot simulator software package developed at the Universität Bremen and the German Research Center for Artificial Intelligence.
• Stage: 2.5D simulator often used with Player to form the Player/Stage system. Part of the Player Project
• STDR Simulator A simple, flexible and scalable 2D multi-robot simulator for use within Robot Operating System.
• UCHILSIM: A physics based simulator for AIBO Robots introduced in RoboCup 2004.
• UWSim : an UnderWater SIMulator for marine robotics research and development which incorporates sensor, dynamic and physics simulation.

Closed-source and proprietary simulators[edit]

• ORCA-Sim: a (Windows) 3D robot simulator using the Newton Game Dynamics physics engine.

Autonomous vehicle simulator[edit]

Open source simulators[edit]

• Carla is an open-source simulator for autonomous driving research. CARLA provides open digital assets (urban layouts, buildings, vehicles) that were created for this purpose and can be used freely. The simulation platform supports flexible specification of sensor suites and environmental conditions.
• AirSim AirSim is a simulator for drones, cars and more, built on Unreal Engine. It is open-source, cross platform, and supports hardware-in-loop with popular flight controllers such as PX4 for physically and visually realistic simulations.

Closed-source and proprietary simulators[edit]

• LGSVL is a unity-based multi-robot simulator for autonomous vehicle developers.

References[edit]

1. ^The development is led by 13+ full-time developers with graduate-level backgrounds in physics, rendering, robot control, human-robot interaction, user-interface design, communication protocols, and multi-robot coordination.
2. ^The development is led by 10+ universities/research institutes including LAAS-CNRS, TUM, ONERA, DLR. See the AUTHORS list for the complete list.
3. ^[1]
4. ^https://github.com/RoboDK/Plug-In-Interface
5. ^The development is led by a team of 6 full-time developers.
6. ^OSRF. 'SDF'. sdformat.org. Retrieved 2019-04-27.
7. ^ ^ab'urdf - ROS Wiki'. wiki.ros.org. Retrieved 2017-10-06.
8. ^pymorse
9. ^Only when running on a X server; relies on Xvfb.
10. ^https://github.com/RoboDK/RoboDK-API
11. ^https://github.com/RoboDK/Plug-In-Interface
12. ^See the V-Rep documentation
13. ^Can import URDF files through bundled plugin
14. ^Versions >= 3.1.0 V-rep Command line options
15. ^However, requires a connection on an X server for 3D rendering
16. ^Emulate the real sensors protocols and media (Ethernet, Serial, CAN,etc.)
17. ^Actin User Guide
18. ^'Gazebo Community'. Gazebo Community. Retrieved 2019-04-27.
19. ^'Gazebo API'. Gazebo Community. Retrieved 2019-04-27.
20. ^'Gazebo Answers'. Gazebo Community. Retrieved 2019-04-27.
21. ^'Gazebo Tutorials'. Gazebo Community. Retrieved 2019-04-27.
22. ^'Gazebo Issue Tracker'. Gazebo Community. Retrieved 2019-04-27.
23. ^'Gazebo Wiki'. Gazebo Community. Retrieved 2019-04-27.
24. ^MORSE users mailing list, MORSE developers mailing list
25. ^MORSE documentation
26. ^MORSE documentation
27. ^MORSE issue tracker
28. ^[2]
29. ^[3]
30. ^[4]
31. ^[5]
32. ^RoboDK mailing list
33. ^RoboDK API Documentation
34. ^RoboDK Forum
35. ^RoboDK Documentation
36. ^RoboDK Bug tracker
37. ^SimSpark mailing lists
38. ^SimSpark client protocols
39. ^SimSpark user manual (Wiki)
40. ^SimSpark Tracker
41. ^SimSpark Wiki
42. ^v-rep API framework
43. ^v-rep forum
44. ^v-rep User Manual
45. ^Webots Reference Manual
46. ^Webots Forum
47. ^Webots User Guide
48. ^Webots issues on GitHub
49. ^Webots technical wiki on GitHub
50. ^Webots Discord channel
51. ^support{AT}4d-virtualiz.com
52. ^support{AT}4d-virtualiz.com
53. ^Bug report
54. ^OpenRAVE mailing list
55. ^OpenRAVE API
56. ^OpenRAVE Issue Tracker
57. ^OpenRAVE User Guide
58. ^OpenRAVE Issue Tracker
59. ^OpenRAVE Wiki
60. ^ ^abcdefghOSRF. 'Gazebo'. gazebosim.org. Retrieved 2019-04-27.
61. ^Source: Ohloh
62. ^CppCheck
63. ^Clang Format
64. ^Unit tests
65. ^API tests
66. ^Webots master
67. ^Webots revision
68. ^Webots develop
69. ^Source: [6]
70. ^Source: [7]
71. ^Source: [8]
72. ^Source: [9]
73. ^OSRF. 'Gazebo : Tutorial : Beginner: Model Editor'. gazebosim.org. Retrieved 2019-04-27.
74. ^OSRF. 'Gazebo : Tutorial : Aerodynamics'. gazebosim.org. Retrieved 2019-04-27.
75. ^OSRF. 'Gazebo : Tutorial : Hydrodynamics'. gazebosim.org. Retrieved 2019-04-27.
76. ^OSRF. 'Gazebo : ARIAC'. gazebosim.org. Retrieved 2019-04-27.
77. ^OSRF. 'Gazebo : HAPTIX'. gazebosim.org. Retrieved 2019-04-27.
78. ^'DARPA's legacy: Open source simulation for robotics development and testing Robohub'. robohub.org. Retrieved 2019-04-27.
79. ^OSRF. 'Gazebo : Tutorial : Make an animated model (actor)'. gazebosim.org. Retrieved 2019-04-27.
80. ^Submarine model available, but no dynamic model.
81. ^Kuka-LWR and Mitsubishi PA-10 included. Other non-concurrent arms can be simulated via the kinematic chains actuator.
82. ^RoboDK robot library
83. ^RoboDK robot library
84. ^including Salamander robot
85. ^including Nao, DARwIn-OP, Fujitsu HOAP2, Kondo KHR-2HV, KHR-3, etc.
86. ^Webots robot models
87. ^Joint control (position/velocity only, no force control) and inverse kinematics
88. ^OpenRAVE Closed chains [10]
89. ^OpenRAVE Dual-arm example [11]
90. ^OSRF. 'Gazebo : Tutorial : Contact Sensor'. gazebosim.org. Retrieved 2019-04-27.
91. ^OSRF. 'Gazebo : Tutorial : Camera Distortion'. gazebosim.org. Retrieved 2019-04-27.
92. ^ ^abOSRF. 'Gazebo : Tutorial : Intermediate: Velodyne'. gazebosim.org. Retrieved 2019-04-27.
93. ^Velodyne 3D laser scanner
94. ^Acceleration and Gyro sensors
95. ^OpenHRP sensors
96. ^Collision detection uses a simplified model
97. ^Possible, no model for noise

External links[edit]