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.
Recommended Citation
M. Leu and R. Mahajan, "Simulation of Robot Kinematics Using Interactive Computer Graphics," Conputers in Education Division of ASEE, American Society for Engineering Education (ASEE), Jan 1984.
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.
Publication Date
01 Jan 1984
