JRoboOp

PRISMA Lab

Robotics and Automation Group of the University of Naples.

Welcome!

Welcome to the JRoboOp web site. JRoboOp is Java package for robotics simulation with visualization of a 3D robot model. The engine to simulate robot kinematics and robot dynamics is based on C++ library ROBOOP developed by Richard Gourdeau of École Polytechnique de Montréal.
The package is open and it's distribuited under GNU GPL license.

Features

JRoboOp is a collection of java classes to implement:

kinematics and dynamics model of (open chain) robot based on Denavit-Hartenberg formulation;
Java3D support for an easy 3D visualization;
collision detection;
trajectory planning;
CLIK with constraints;
joints space and cartesian space robot controllers;
differential equation solver;
matrix functions based on JAMA package;
plotting functions based on Ptolemy plot package;
advanced XML based configuration with XMLBeans;
faster code with Javolution.

See the Overview page for more details.

Go to the Java Web Start page to run the demo applications.

Why Java?

The Java language is a true object oriented language so that it allows a more clean and flexible programming and it's also easy to embed it in web applications. The interface between Java and C++ is based on JNI.

Requirements

The package requires Java virtual machine version 1.5 or above and Java3D version 1.3 or above. To build the package and documentation from sources install Apache Ant too.