Designed Simulation System of 7-DOF Robot based on MRDS

According to VA1400 7-DOF robot,the robot simulation system was built based on Microsoft Robotics Studio(MRDS).The link coordinate system was built by using D-H method.The forward kinematics equations of robot were deduced from the link parameters.The 7-DOF robot model was built by blender.The simulation software of the 7-DOF robot was designed by using the runtime library of MRDS,and the results were verified in MATLAB toolbox.By comparison of the two simulation results,the maximum deviation was 1.15mm.It was in reasonable limits.The system simulated the motion state of the 7-DOF robot realistically.It was a basis for robotics researchers to develop offline programming and simulation software.