Simulating the kinematics and motions of robotic manipulators using 3D game development tools

Cubero, Samuel N. and Billingsley, John (2013) Simulating the kinematics and motions of robotic manipulators using 3D game development tools. In: 20th Annual International Conference on Mechatronics and Machine Vision in Practice (M2VIP 2013), 18-20 Sep 2013, Ankara, Turkey.

Abstract

There are several different ways to create and control virtual 3D (three-dimensional) models of robots, however, most of these methods can only be implemented or understood by experts with years of extensive experience in 3D graphics programming, 3D mathematics and a plethora of advanced skills in the areas of solid modelling and 3D animation. This paper presents a brief history and summary of the state-ofthe- art in 3D game development tools and technologies which can be used to develop realistic looking graphics for developing user interfaces and robot control programming tools. It also presents a simple and easy-to-learn kinematic modelling and 3D simulation process using a 4 degree of freedom (4-dof) articulated robot leg for an amphibious walking and swimming robot that is currently being designed by the authors. This 4-dof robot leg will be used as an example or case study to demonstrate an effective method for motion control, animation and simulation. Also described are popular software tools and essential skills needed to create a simple 3D simulation program. The source code of the 3D simulation software for the 4-dof robot leg is listed and described to help readers apply such methods to other robot designs, devices and complex machinery.


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Item Type: Conference or Workshop Item (Commonwealth Reporting Category E) (Paper)
Refereed: Yes
Item Status: Live Archive
Additional Information: Copyright© (2013) by Mechatronics and Machine Vision in Practice. All rights reserved. For permission requests, please contact Mechatronics and Machine Vision in Practice FOES, University of South Queensland, Toowoomba QLD 4350 Australia.
Faculty / Department / School: Current - Faculty of Health, Engineering and Sciences - School of Mechanical and Electrical Engineering
Date Deposited: 28 May 2014 00:34
Last Modified: 13 Jul 2017 04:41
Uncontrolled Keywords: 3-D (three-dimensional); 3D; animation and simulations; articulated robots; game; kinematic modelling; robotic manipulators; simulation
Fields of Research : 19 Studies in Creative Arts and Writing > 1902 Film, Television and Digital Media > 190202 Computer Gaming and Animation
08 Information and Computing Sciences > 0801 Artificial Intelligence and Image Processing > 080101 Adaptive Agents and Intelligent Robotics
08 Information and Computing Sciences > 0801 Artificial Intelligence and Image Processing > 080111 Virtual Reality and Related Simulation
Socio-Economic Objective: B Economic Development > 89 Information and Communication Services > 8902 Computer Software and Services > 890203 Computer Gaming Software
URI: http://eprints.usq.edu.au/id/eprint/25215

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