Modeling and Visualization of Robotic Arms

R. Manseur (USA)


Virtual robot, visualization, modeling, animation, kinematics, VRML.


Robotics involves the simultaneous motion in 3D space of several objects. In the particular case of robotic arms in motion, the resulting end-effector trajectory is caused by the synchronous activation of several motors along the robotic mechanism. This article discusses newly developed software that allows the direct visualization of the motion of robotic arms from a mathematical description of the robot structure as well as visual analysis of its joint motions. It is now possible to ascertain the feasibility and effectiveness of robotic tasks long before putting a machine into action. The analysis of mechanical robotic structures, individual joint motions, end-effector trajectories, robot singularities, as well as off-line trajectory planning, and verification of obstacle avoidance can be performed by use of virtual objects and visualization methods. By using virtual models of robotic mechanism in computer-simulated environments, many features of a robot task planning can be verified and ascertained to be functionally feasible before the programming of the real robot. The research described here involves the creation of virtual models of real industrial robots for virtual simulation using visualization and simulation software capable of generating virtual renditions of mathematical models of robots.

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