andy@federation.gatech.edu (Andy Register) (06/25/91)
I need a complete simulation for a Puma 560. This would include forward and inverse kinematics, forward and inverse dynamics, motor models, amplifier models, path planning, controller, etc. I want to try and convert to parallel machine(s): hypercube, crossbar, etc. in an attempt to get a real time simulation at some small step size. I would like to be able to get these via FTP and C would be best. Any help or direction will be appreciated. Toodles Andy