Integratable robot simulation tools

Author

Koseeyaporn, Poolsak ; Cook, George E. ; Strauss, Alvin M.

Author_Institution

Vanderbilt Univ., Nashville, TN, USA

fYear

2002

fDate

2002

Firstpage

370

Lastpage

374

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 3D graphical display. Other programming languages that are compatible with the component object model 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

control system CAD; digital simulation; distributed object management; graphical user interfaces; open systems; robot kinematics; software packages; solid modelling; 3D computer graphics; COMMON LISP; LISP interpreter; ROBOD3D; ROBOGL; ROBOSIM; collision detection; component object model; graphical simulation; graphical user interfaces; interoperability; inverse kinematics; matrix transformation; robot simulation; 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

SoutheastCon, 2002. Proceedings IEEE

Conference_Location

Columbia, SC

Print_ISBN

0-7803-7252-2

Type

conf

DOI

10.1109/.2002.995622

Filename

995622