A Multiple Robot Simulation and Remote Control Environment Utilizing a Computer Graphics Display
An environment is presented for multiple robot simulation and remote control utilizing a graphics display device. A computer graphics program was developed to simulate the motions of two Microbots on an Evans and Sutherland PS300 graphics display device. It provides a visual representation of both robots including the ability to move them to various positions within the workcell. Different views of the workspace can be selected, including mono, stereo, orthographic composite, and views from the gripper of either or both Microbots.
An interactive program allows the user to move each joint of the robots. The program also tests for and prohibits movement through the floor. A block can be picked up and transferred from one Microbot to the other. In addition, after planning a collision free path for each robot and successfully transferring the block, the movements can be saved in a file and sent to an Apple computer which will automatically drive the actual robots through these motions.
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