20-sim is a modeling and simulation package, originally developed by the University of Twente. It is now commercially developed and distributed by Controllab. With 20-sim you can model and simulate dynamic systems (electric motors, mechanical manipulators, hydraulic actuators, computer control loops, ...) to predict and analyze their behaviour.
20-sim provides you with tools that allow you to create models very quickly and intuitively. Various tool boxes help you to build your models, simulate them and analyze their performance. Download the free viewer here and learn by doing. You will find that the package has some outstanding capabilities that will help you on numerous applications in many industries.
The image above shows 20-sim with a robot model loaded. The robot is generated with the 3D Mechanics Toolbox and connected with standard actuator and sensor models from the mechanics library. The robot is controlled by PID controllers which are tuned in the frequency domain. Everything that is required to build and simulate this model is inside the package. No exteral software or compiler is needed!