VRSC: visual robotic simulation and control with MaTX/RtMaTX

Author

Nonaka, Kenichiro

Author_Institution

Dept. of Mech. Syst. Eng., Musashi Inst. of Technol., Tokyo, Japan

fYear

1999

fDate

1999

Firstpage

468

Lastpage

473

Abstract

A 3D graphic library, a graphic user interface library and its structure mode for MaTX/RtMaTX on Win32 are introduced. They are developed for the following purpose: to provide a visual and interactive man-machine interface for MaTX/RtMaTX, to give the 3D graphics for visually grasping the state of the dynamical system, and to unify the plant information including dynamics and appearance. A control system based on these libraries for existing 3-DOF manipulator is presented, in which the action commands are presented as a menu of window, and the current posture of the manipulator is displayed as a 3D figure while dynamical simulation or a real-time control is executed

Keywords

control system CAD; data visualisation; digital simulation; graphical user interfaces; interactive systems; manipulator dynamics; software libraries; solid modelling; 3D graphic library; MaTX/RtMaTX; OpenGL; control system CAD; dynamics; graphic user interface; grasping; interactive systems; manipulators; real-time control; structure mode; user interface; visual robotic simulation; Automatic control; Control system synthesis; Design automation; Graphical user interfaces; Graphics; Manipulator dynamics; Real time systems; Robot control; Software libraries; User interfaces;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Aided Control System Design, 1999. Proceedings of the 1999 IEEE International Symposium on

Conference_Location

Kohala Coast, HI

Print_ISBN

0-7803-5500-8

Type

conf

DOI

10.1109/CACSD.1999.808693

Filename

808693