Realization of Robot Maniqulators Using Computer Graphics

컴퓨터 그래픽스를 이용한 로보트 매니퓰레이터의 구현 방법

  • Jang, Won (Dept. of Elec. Eng., KAIST) ;
  • Chung, Myung Jin (Dept. of Elec. Eng., KAIST) ;
  • Bien, Zeungnam (Dept. of Elec. Eng., KAIST)
  • 장원 (한국과학기술원 전기 및 전자공학과) ;
  • 정명진 (한국과학기술원 전기 및 전자공학과) ;
  • 변증남 (한국과학기술원 전기 및 전자공학과)
  • Published : 1987.02.01

Abstract

In this paper, we developed a method of describing the structure of robot arms and a systematic way to use it as a robt-design-aid tool. To describe the structure of robot arms, a robot was regarded as a collection of various links in the form of polygonal pillars. With the aid of the homogeneous transformation, a set of commands for describing the information on how all the links in the robot are connected was defined and used in graphically realizing complex link-based structures including robot manipulators.

Keywords