Fundamentals of Robotics

The tangible and intangible benefits of robotic simulation for manufacturing development are rapidly becoming evident in industry. The use of such systems requires an understanding of the appropriate components that synthesise and compose a simulation model. The principle objective of this chapter is to provide a comprehensive overview of these simulation components. Particular attention is made to the history of computer simulation, the fundamentals of robotics, the ABB IRB2400_10 robot and the simulation-robot relationship. The robotic simulation package Workspace 5 is introduced along with its key navigation suggestions. Finally, the structure of this dissertation is defined.

2.1 The History of Simulation

Simulation involves the imitation of conditions of situations for the purpose of training or predicting outcomes.

The earliest documented use of simulation by man for training dates back to military training by the Roman Empire. Soldiers utilised a tree trunk to practice ...