steve@arezzo.siemens.com (Steve Giovannetti) (05/30/90)
Has anyone had any experiences in simulating robot like systems in a 3-d
graphics environment? I am interested in the technical details of how people
have modeled arms, legs, etc. I am also interested in what people think of
using these types of models to develop control algorithms considering the
assumptions that these types of models make (ie no joint slippage etc).
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"Enita non sunt multiplicanda praeter necessitatem!"
William of Occammeier@uhccux.uhcc.Hawaii.Edu (Johannes Meier) (05/30/90)
In article <STEVE.GNUS11@arezzo.siemens.com> steve@arezzo.siemens.com (Steve Giovannetti) writes: > > Has anyone had any experiences in simulating robot like systems in a 3-d >graphics environment? I am interested in the technical details of how people >have modeled arms, legs, etc. I am also interested in what people think of >using these types of models to develop control algorithms considering the >assumptions that these types of models make (ie no joint slippage etc). > When I was working as a graduate assistant at the University of Technology, Aachen, FRG, I saw a lot of this type research in the context of flexible manufacturing systems. You might want to check out the current research at the institute 'WZL' of the University of Technology, Aachen, RWTH. A general address of the university is: WZL RWTH Aachen Templergraben 61 51 Aachen West Germany ---------------------------------------------------------------------- Johannes Meier 'Surf is up, so what am I doing here.' ----------------------------------------------------------------------
cmcmanis@stpeter.Eng.Sun.COM (Chuck McManis) (05/30/90)
In article <STEVE.GNUS11@arezzo.siemens.com> (Steve Giovannetti) writes: > Has anyone had any experiences in simulating robot like systems in a 3-d >graphics environment? I am interested in the technical details of how people >have modeled arms, legs, etc. I am also interested in what people think of >using these types of models to develop control algorithms considering the >assumptions that these types of models make (ie no joint slippage etc). I haven't modelled them in a 3D environment (although that's mostly because until I got my Amiga the hardware couldn't hack it) I have done some limited work in the 2D environment. I discovered it was much cheaper (and easier) it was to simulate a robot and then program the simulation. Unfortunately I don't have very good simulation rules yet. My first system consisted of a simulated point-source robot who navigated on an ASCII screen. If you are at all familiar with the programming "games" of CRobots or Omega, you have a good idea of what it looked like. This helps you see how wall follower algorithims work but doesn't do much beyond that. At the current stage I'm more interested in getting my homebrew robot's sensors and environment (carpet covered hardwood) modeled. If you find any pointers to references on developing this sort of model I would be interested as well. -- --Chuck McManis Sun Microsystems uucp: {anywhere}!sun!cmcmanis BIX: <none> Internet: cmcmanis@Eng.Sun.COM These opinions are my own and no one elses, but you knew that didn't you. "I tell you this parrot is bleeding deceased!"
nagle@well.sf.ca.us (John Nagle) (06/01/90)
In article <STEVE.GNUS11@arezzo.siemens.com> steve@arezzo.siemens.com (Steve Giovannetti) writes: > > Has anyone had any experiences in simulating robot like systems in a 3-d >graphics environment? I am interested in the technical details of how people >have modeled arms, legs, etc. I am also interested in what people think of >using these types of models to develop control algorithms considering the >assumptions that these types of models make (ie no joint slippage etc). SILMA, in Cupertino, CA, sells simulation systems for doing just that. Several books by John Craig describe some of the control algorithms they use. John Nagle
sutherla@qtp.ufl.edu (Scott Sutherland) (06/04/90)
In article <136366@sun.Eng.Sun.COM> cmcmanis@stpeter.Eng.Sun.COM (Chuck McManis) writes: >In article <STEVE.GNUS11@arezzo.siemens.com> (Steve Giovannetti) writes: >> Has anyone had any experiences in simulating robot like systems in a 3-d >>graphics environment? I am interested in the technical details of how people >>have modeled arms, legs, etc. I am also interested in what people think of >>using these types of models to develop control algorithms considering the >>assumptions that these types of models make (ie no joint slippage etc). > >I haven't modelled them in a 3D environment (although that's mostly >because until I got my Amiga the hardware couldn't hack it) I have >done some limited work in the 2D environment. I discovered it was >-- >--Chuck McManis Sun Microsystems >uucp: {anywhere}!sun!cmcmanis BIX: <none> Internet: cmcmanis@Eng.Sun.COM >These opinions are my own and no one elses, but you knew that didn't you. >"I tell you this parrot is bleeding deceased!" I also have an Amiga and I HAVE a program that is PD which simulates a Robot Arm and its movements. I cannot recall the name of the program, but it starts out in wire frame and the arm is similar in construction to a human arm in that there is an upper arm (actually looks like a lower arm since it is attached to a base on the ground), a forearm, wrist and 2 "fingered" hand. You can control the rotation in x, y, and z of each part. The movement is heirarchical (sp? Is this a word?) in that, if you move the forearm, the wrist and hand move with it. The program also has a solid fill routine with hidden line and face removal. It is NOT interactive in the sense that you can use a joystick to move the arm in real time. I do NOT remember if the source code is available on the disk (I do NOT think so), but, if it is, it could probably be altered to allow joystick control (or interactive keyboard control (e.g. pseudo real time)). If you want to know more about this program, I can find out the name of it and get whatever information is in the README file associated with it. Scott Sutherland sutherla@qtp.ufl.edu