Abstract
Abstract A robotic simulation and off-line programming package has been developed for use on Silicon Graphics workstations that has the capability of using several types commercially available virtual reality (VR) hardware devices. The software includes a library of 4, 5, and 6 degree-of-freedom (DOF) industrial robots with closed form inverse kinematics and translators that convert graphical simulation commands into the device control language that can be transferred to the robot control hardware. Forward kinematics, inverse kinematics, and joint space path planning methods used in the software development are discussed. The performance of three types of commercially available 6-DOF input devices are compared for use in interactive off-line programming. Stereo vision and external 6-DOF positioning devices were added to enhance programming efficiency and offer more realistic access to the virtual workcell environment.
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