Simulation, programming and control of kinematics and other articulated mechanisms based on a uniform framework

Authors:
Jürgen Rossmann;Christian Schlette;Michael Schluse;Kevin Eilers
Affiliations:
Institute for Man-Machine Interaction, RWTH Aachen University, Aachen, Germany;Institute for Man-Machine Interaction, RWTH Aachen University, Aachen, Germany;Institute for Man-Machine Interaction, RWTH Aachen University, Aachen, Germany;Robotics Technology, RIF e.V., Dortmund, Germany
Venue:
NEHIPISIC'11 Proceeding of 10th WSEAS international conference on electronics, hardware, wireless and optical communications, and 10th WSEAS international conference on signal processing, robotics and automation, and 3rd WSEAS international conference on nanotechnology, and 2nd WSEAS international conference on Plasma-fusion-nuclear physics
Year:
2011

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Abstract

This contribution presents a uniform framework and versatile data structure to simulate, program and control kinematics and other articulated mechanisms as integral part of a comprehensive 3D simulation and Virtual Reality system. Such a system has demanding requirements regarding the interoperability of frameworks and data structures on which the performance and the capabilities of the applications depend. The basis of the system here is a scene graph based structure with the ability to augment its nodes with arbitrary data representing additional functional and structural information. This approach - though it utilizes a simple yet flexible graph at its core - is highly modular and versatile in representing a broad range of kinematic relations and allows for various applications in the field of simulation and VR. Currently, the uniform framework covers such diverse areas as forest harvesting processes, advanced production environments and mechanisms on the International Space Station.