At the start of each time step, joint angle data from the MSC/Adams™ model is passed to SIMULINK™, where the controller algorithm processes the data and produces a vector of actuator command signals which are then sent back to Adams™. During the simulation time step, the robot’s dynamics are simulated in Adams, using the SIMULINK™ provided actuator drive signals. An the end of the time step, Adams™ reads the robot’s new joint angle data and the process repeats again.