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A method is addressed for real-time dynamics trajectory optimization of kinematically redundant manipulators. The considered task of trajectory planning is to teach interactively position and orientation of the tool-centerpoint frame, which is fixed in the manipulator hand. Thereby the manipulator has to autonomously preserve explicitly formulated kinematic constraints such as moving obstacle avoidance, singularity avoidance, and box-constraints on joint positions as well as dynamic constraints like box-constraints on joint velocities, accelerations and motor torques. The k e y idea is to transform the resulting overall motion planning problem into a timed series of point-to-point trajectory planning problems, which, in turn, may be formulated as parameter optimization problems, that can be eficiently solved in real-time b y the numerical method of sequential quadratic programming. Since the approach does not require an inverse kinematics formulation it is feasible for manipulators with redundant kinematics.

For a certain class of applications simulation models are developed and then rolled out for standalone usage without the tool with which they have been developed. The user is intended to perform simulation runs, to inspect results, to change selected parameters within given bounds, but not to inspect or even change the model itself.The reasons for such a usage scenario are manifold: The simulation is intended to be used as a black-box tool by non simulation specialists, a component vendor (electric drives, pneumatic or hydraulic components, etc.) likes to demonstrate the performance of his components in the context of a simulation or the model developer may hide model details. If a model development tool includes code generation the model specific simulator can be setup fully automatic. However, a GUI (graphical user interface) for such a simulator must be developed manually. We developed a tool which automatically generates a simulator GUI from a Modelica model and data definition.

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