Title

Simulation of Robot Kinematics Using Interactive Computer Graphics

Abstract

Kinematics of various types of robots is simulated using interactive computer graphics. The robot motion is allowed for either joint-interpolated motion or straight-line motion. Coordinate transformations are used to solve for joint variables corresponding to the specified gripper position and orientation. The robot motion from the initial to the final configurations is animated on the E&S vector refresh picture tubes. The simulation program is developed mainly for robotics training. It allows the user to visualize robot kinematics without 'hands-on' experience with real robots.

Department(s)

Mechanical and Aerospace Engineering

Keywords and Phrases

Computers Graphics; Engineering Education; Robotics

Document Type

Article - Journal

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 1984 American Society for Engineering Education (ASEE), All rights reserved.

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