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Simderella: Robot Simulator

Simderella is a robot simulator consisting of three programs: CONNEL (the controller), SIMMEL (the robot simulator), and BEMMEL (the X-windows oriented graphics back-end). SIMMEL performs a few matrix multiplications, based on the Denavit Hartenberg method, calculates velocities with the Newton-Euler scheme, and communicates with the other two programs. BEMMEL only displays the robot. It is a fast general-purpose display method which places separate objects in space depending on the homogeneous matrices it receives from SIMMEL. CONNEL is the controller, which must be designed by the user. In the distributed version, CONNEL is a simple inverse kinematics routine. No neural networks are included. The programs use Unix sockets for communication, so you must have sockets, but you can run the programs on different machines. Since data communication is high-level (all data is encoded before transmission), cross architecture portability is high. In fact, CONNEL can simultaneously control a real robot and the simulated one. When nothing is happening, Simderella will sleep and not use any processor time.
Origin: []
   as the file simderella.2.0.tar.gz

Version: 2.0.1 (17-MAR-94) Requires: C Ports: The software has been compiled using gcc on SunOS running under X11R4/5 on Sun3, Sun4, Sun Sparc 1, 2, and 10, DEC Alpha, HP700, 386/486 (Linux), and Silicon Graphics architectures. Copying: Copyright (c) 1992 by the University of Amsterdam, Department of Computer Systems Use, copying, modification, and distribution permitted for noncommercial purposes. For commercial purposes, contact the authors. See the file doc/COPYRIGHT for details. CD-ROM: Prime Time Freeware for AI, Issue 1-1 Author(s): Patrick van der Smagt or Department of Computer Systems University of Amsterdam Kruislaan 403, 1098 SJ Amsterdam, NETHERLANDS Tel: +31 20 525-7524 Fax: +31 20 525-7490 F.J. Jungen Dept. of Mathematics and Computer Science Artificial Intelligence Group Vrije University Amsterdam De Boelelaan 1081a, 1081 HV Amsterdam The Netherlands Tel: +31 20 5484486 Fax: +31 20 6427705 Keywords: Agent Architectures, Authors!Jungen, Authors!Smagt, BEMMEL, CONNEL, Inverse Kinematics, Micro-Worlds, Planning, Robotics, SIMMEL, Simderella, Simulators, Sockets, Testbeds References: ?
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