Graphic simulation for inverse kinematics algorithms in visual servoing applications

Authors:
Razvan Tudor Tanasie;Dorian Cojocaru
Affiliations:
Software Engineering Department, University of Craiova, Craiova, Dolj, Romania;Mechatronics Department, University of Craiova, Craiova, Dolj, Romania
Venue:
CONTROL'08 Proceedings of the 4th WSEAS/IASME international conference on Dynamical systems and control
Year:
2008

Citing 3
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Abstract

A kinematical 3D model for hyper-redundant robots is created. A development environment for control applications for tentacle robots is created. This environment includes a personal library of mathematical functions typical for tentacle robots, a complex graphical engine to represent realist animations to illustrate the plane motion of the hyper-redundant robots, and a library of programming functions for creating, accessing, modification and destroying the instances of the different implemented classes. The advantages of such an application are numerous, the costs reduction and educational use of the simulator being the most important.