Abstract
This paper describes the approach, algorithms, tools and implementation regarding construction from scratch of a simulation environment for robotic manufacturing cells following the virtual reality paradigm. A semantic model of robots ensures generality of the system, whereas fundamental robotics algorithms can be built into the environment, examples implemented concerning inverse kinematics for robotic arms with six rotary axes 6R, fast collision detection based on bounding boxes and interactive trajectory planning. The environment was developed in C++ making use of an open 3D graphics interface and a cross-platform user interface framework supporting different setups, i.e., enhanced desktop monitor, head-mounted display, glove and hybrid wall monitor, projector, game-type remote controller. Objects involved are virtual reality modelling language VRML versions of models originally designed in conventional 3D computer-aided design CAD systems. A sample application covering the design and training domains is demonstrated corresponding to selecting, positioning and programming a 6R robotic arm tending a turning centre.
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