Windows-based robot simulation tools

Author

Bingül, Zafer ; Koseeyaporn, Poolsak ; Cook, George E.

Author_Institution

Dept. of Mechatronics Eng., Kocaeli Univ., Turkey

Volume

2

fYear

2002

fDate

2-5 Dec. 2002

Firstpage

1037

Abstract

A new graphical simulation package, which is capable of interoperability with other extensive programs, is proposed. A built-in LISP interpreter based on COMMON LISP allows a user to model and manipulate the robot while the result is displayed on a three-dimension graphical display. Other programming languages that are compatible with the component object model (COM) interface can also be applied to the modeling and simulation. The simulation package provides many useful features such as collision detection, inverse kinematics, matrix transformation operations, and several graphical user interfaces. The simulation objects are built based on a triangle strip model to form primitive objects such as a box, cone, sphere, etc. These primitive objects are combined to construct the robot that may contain several serial or parallel links so that many possible types of robots can be modeled.

Keywords

LISP; digital simulation; distributed object management; graphical user interfaces; robot kinematics; software tools; 3D graphical display; Component Object Model; LISP interpreter; Windows; collision detection; form primitive objects; graphical simulation package; graphical user interfaces; inverse kinematics; matrix transformation operations; programming languages; robot simulation tools; triangle strip model; Computational modeling; Computer languages; Graphical user interfaces; Kinematics; Mathematical model; Packaging; Parallel robots; Path planning; Programming profession; Robot programming;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference on

Print_ISBN

981-04-8364-3

Type

conf

DOI

10.1109/ICARCV.2002.1238567

Filename

1238567