N-D Computer Graphics in Robots' Kinematics Modelling and Simulation

Abstract The paper describes a study of robots’ kinematics in nD, n-dimensions n=2,3.4,6, space-time coordinates, useful in continuous path control. The first part develops the concept of nD and shows the connections with robots’ study. Afterwards, with the assistance of two computer programs, realised by the author, it is put into evidence very strange, but useful aspects of robots’ kinematics study in nD space-time coordinates, with examples for a six degrees of freedom robot arm. In order to persuade anybody that the concept works, in parallel, it is shown the 3D computer graphics simulation of robot’s kinematics, in space coordinates only.