For introductory robotics courses with high student/robot ratios, the lack of robotic hardware can be a problem in providing adequate hands-on experience with robot programming. Used in place of actual robots, computer animation can provide an acceptable substitute to gain insight into robot kinematics and programming. As well, the animation can be used to verify robot programs developed off-line as to movement sequence, illegal moves, and obstacle avoidance. This paper presents a detailed analysis of an algorithm used in a microcomputer animation of a robot moving in a work cell. Topics discussed include representation of the robot and objects in the work cell, specification of the view frame, perspective projection, and several techniques for producing the animation.

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