(A) rhino XR-2 kinematic simulator as a teaching aid

Abstract

This thesis describes a development of an interactive robot kinematic simulator as a teaching aid for RHINO XR-2 robot. This simulator simulates kinematic configurations and motions of RHINO XR-2 on a color graphic terminal in simulation mode which will teach the robot configurations and robot kinematic motions by exhibiting those of RHINO XR-2 robot. The kinematic features of this simulator are kinematic characteristics of RHINO XR-2 and reachable working area as well as moving range of each link of RHINO XR-2 robot linkage. Furthermore, users can control the kinematic motion sequences satisfying some moving constraints in simulation mode and may be led to the possible applications of industrial robots. All of these simulative operations are controlled interactively by user commands entered from terminal keyboard. This system has been implemented in "C" language with a TEKTRONIX 4105 color graphic terminal on VAX 11/780 running under UNIX (4.2BSD) operating system.