A virtual environment for real-time interaction with robotic systems

A virtual environment was created which mimicked the real-world operation of the LongArm robotic system. In addition to considering an exact model of the physical system, online two-way data exchange between the actual robot and its virtual counterpart makes actual real-time interaction possible. The designed interface allows the operator to experiment in the virtual mode with any commands later executed on the real system. There is an option to view a second set of graphics showing the kinematic relationships between the joints of the robot. This prototype is intended as an initial investigation into the design of virtual environments for the real-time control of dynamic systems