Title :
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
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;
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
DOI :
10.1109/CACSD.1999.808693
