When designing the Degree of Freedom of a robot, for instance for a humanoid robot, or a system which consider the contact with the ground, the dynamical simulator, which can simulate the environment faithfully, is a very powerful tool. It will enable you to select the optimal actuators and verify the validity of the system before building an actual robot.

IXS Research provides the FREE dynamical simulator to our customers who ask us the robot design.

Model Establishment

You can establish the arbitrarily-shaped model, only by describing the link parameters (i.e. link length, weight, gravity center position)

Control Cycle

It simulates by any control cycle, just by defining the control cycle.

Simulation Method

It uses Newton-Euler method

Control Formula

You can drive the links, by substituting the torque to the membership variable of link structure.

example) In the case of applying PD control to the second joint of linkA
linkA[2].torque = k*(dx - x) + kv*(dv)

Contact with the floor

The contact with the floor is modeled by the spring dumper. By setting the spring dumper coefficient, more realistic simulation can be available.

Gradient of the floor

Gradient of the floor is specified by the radian. It provide the slope environment.

Friction of the joint

The friction factor of each joint is configured. (The friction factor of all joints are same.)

Saving to the file

Saving data to the file by control function module is available. You can save the result of simulation as the time series data and use them to control the actual robot.

Product Specification

* This simulatior is for the verification purposes only. Each parameters are not calculated rigorously.
*This simulator is not for sale and IXS Research does not provide any version-up or support service.