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 real or virtual robot arms and enable the user to manipulate this arm. Due to support of distributed computing by Java and its platform independence the Java GUI may run on different local and remote systems. Therefore the same robot may be controlled by a local user or via Intranet or Internet with the same applet. The GUI applet communicates directly with the control or simulation computer. In contrast to the Java 1.1 user interface the Java 3D robot visualization is much more detailed. Compared with other visualization systems the Java 3D applet is very realistic. Therefore the Java display is a capable alternative to the traditional visualization.