An Interactive Robotic Simulation Package

Described is a graphics package called RobSim intended for the real-time simula-tion of the kinematics of automated workcells containing one or more robots with any configuration and up to six degrees of freedom. The user can enter information with joint or position teachboxes, or with joint or position spreadsheets. All trajecto-ries are velocity controlled. The graphics illustrates each robot so its joint configura-tion and position are evident. The scene can be viewed from any or all of the three projections onto the major planes and/or from one or more camera images taken from user defined positions. The software runs o