Dynamic Simulation of Intelligent Robot Manipulators as Basis for Virtual Testbeds

This revised and extended version of the thesis (ISBN: 978-3-8439-3108-3) addresses the 3D physics-based simulation of torque-controlled robot manipulators that intelligently monitor and adapt their motion dynamics to deliver smart, versatile, and efficient robotic manipulations. The developed simulation basis supplies challenging applications studied in virtual testbeds with robotics simulation as a highly customizable service employed with the aim of driving new technological perspectives and efficiently shaping innovations.