Enhanced Graphical User Interface (GUI) of Recursive Dynamics Simulator (ReDySim) for Multibody Systems

Recursive Dynamics Simulator (ReDySim) is a tool for the dynamic analysis of multibody systems. It has high computational speed, and most importantly, it is freely available. ReDySim is built on the computationally efficient and numerically stable dynamic formulation named Decoupled Natural Orthogonal Complement (DeNOC). This paper focuses on enhancements to the existing Graphical User Interface (GUI) of the Recursive Dynamics Simulator for multibody systems. The enhanced GUI is developed on MATLAB app designer and takes input from the user to perform the analysis. Originally, it was developed in the form of MATLAB codes only. Due to the difficulties in editing the model parameters, the necessity for a user-friendly GUI arose. As a result of which, a primitive GUI version was developed. Now, the GUI is enhanced in a more user-friendly environment by taking feedback from the users of various academic institutes. The enhanced version of ReDySim GUI is discussed in this paper. An overview of the current version of ReDySim GUI is presented here, while the improvements from the earlier versions are mentioned explicitly. This current version includes an analysis of more robotic systems than the earlier version. A proportional-derivative control has also been added the along with the existing forward and inverse dynamics analysis. The current version can be downloaded from http://home.iitj.ac.in/~surilshah/redysim.php .