A General Microcomputer Graphics Simulation System for Programming and Evaluating Robot Action

Computer graphics systems for robot programing and simulation are becoming increasingly important in robot researches and application. In this paper, A general microcomputer graphics simulation system for programing and evaluating robot action, called GMGSS in, described. Main modules of GMGSS include kinematics modelling, workspace determination, trajectory planning, graphics generation and processing, and animation technology. An expert program for automatic formulation of robot kinematics and inverse solutions is introduced. The fast and efficient algorithms for 3-D dynamic graphice generation and processing are also depicted. It is appropriate to the purpose for real time graphics simulation of industrial robots.