A computer animation of robotic manipulators and workcells

摘要

ROBOTSIM, a computer simulation of robotic manipulators which uses three-dimensional graphics and animation on an IBM PC, is described. The simulation package includes a library of robots and objects which can be placed in a workcell and viewed from any angle. It consists of five modules. The design module is a complete CAD system to create and modify robots, objects, and workcells. The workcell module will display a previously designed workcell, load and execute robot programs, and teach points. The options module will allow the user to change program parameters such as menu colors, sound, and animation speed. The help module brings up a context-sensitive help window explaining each of ROBOTSIM's commands. The program module consists of an editor for developing robot programs and modifying taught points. The package offers an inexpensive method for simulation and testing of workcell designs, new robot designs, and robot programs. It is also intended for educators looking for an inexpensive way to give students hands-on experience with robotic manipulation.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>