real time three-dimensional robotics simulation
abstract
this thesis is concerned with the design and implementation of a real-time robotics
simulator with three-dimensional graphics. the simulator allows for internal or external
control o f a number o f robotic manipulators with revolute or prismatic joints. these
manipulators may interact with each other and other objects in the simulated environment.
all objects in the simulation will have physical properties such as mass and fragility, and
can exert forces upon each other. an external program is planned to allow easy
construction of models from an assortment of pre-designed pieces.
this thesis describes four areas o f the simulation in detail the first o f these is the
modelling scheme used to represent objects in the simulation. the second is the actual
simulation design. the third is a discussion on the use o f external programs to control the
simulation. last is a summary o f the programming environment and how it relates to the
simulation.
collections
- retrospective theses [1604]