Robot Simulation and Monitoring on Real Controllers (RoboSiM)
نویسنده
چکیده
The rapid evolution of standard hardware such as workstations and PCs made it possible to develop workstation or PC based robot controls. RoboSiM, a robot simulation and monitoring system, is based on such a robot control. RoboSiM runs on the real robot controller which may be either a SPARC workstation or a PC. Traditional systems simulate both, the robot arm and the robot control. The basic idea of this new concept is that only the devices (robot arm or peripheral devices) are simulated. These virtual devices are controlled by the real control system. Hence the simulation is very realistic. The new system visualizes real devices as well as simulated devices in a Java applet. Therefore a scenario blending real and virtual devices can be displayed at the same time. The Java applet as Graphical User Interface (GUI) can be exported to other hosts via Intranet or Internet.
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RoboSiM: Java 3D Robot Vizualization
The programming language Java has made it possible to develop device independent software. We introduce in this paper a robot visualization system implemented in Java. This graphical user interface is part of our robot simulation and monitoring system (RoboSiM). Currently two versions of the visualization exist, a Java 1.1 based system and its successor realized in Java 3D. Both applets display...
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