Title

Elements of Computer Graphic Robot Simulation

Abstract

Several robot simulation programs have been developed for teaching robot kinematics and dynamics and for studying off-line robot programming. These simulation programs are able to effectively illustrate the following elements of robotics: (1) teach pendant and forward kinematics, (2) inverse kinematics, (3) dynamics, (4) applying a solid modeling system, (5) modeling objects based on a multiple-representation scheme, (6) modeling swept volumes for collision detection, and (7) off-line program verification. This paper details the content of each simulation program and briefs the techniques used in the development of these programs.

Meeting Name

International Computers in Engineering Conference

Department(s)

Mechanical and Aerospace Engineering

Keywords and Phrases

Computer Graphics; Kinematics - Education

Document Type

Article - Conference proceedings

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 1985 American Society of Mechanical Engineers (ASME), All rights reserved.

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