SARM: A computer graphics simulator for generic robot manipulators

dc.creatorTor, Kim Song
dc.date.available2014-11-18T18:12:43Z
dc.date.issued1991-12
dc.description.abstractRobotics research often places demands on an actual robot beyond what can safely be carried out. The versatility of a graphics simulator transcends the limitations of a physical system, offering a viable alternative test-bed for unbridled experimentation. Such a simulator requires immense computing power for its implementation. The advent of the graphics workstation makes the once-out-of-reach. immense computing power accessible~ providing a good platform for just such an endeavor. Taking advantage of the workstation ~s availability and its power~ the author developed a graphics robot simulator (SARM) with visual realism, high resolution and sufficiently realistic animation. SARM~ capable of simulating the kinematics of an actual robot~ provides a versatile tool for robotics research in the area of motion control, trajectory formation, and robot learning through pseudo-sensory data. Developed on a SUN SPARCstation 1 under X Window System (Xll R4), SARM allows its user to observe a robot model in action through a virtual camera.
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/2346/59991
dc.language.isoeng
dc.rights.availabilityUnrestricted.
dc.subjectRobots -- Motion -- Computer simulation
dc.subjectRobotics -- Computer programs
dc.titleSARM: A computer graphics simulator for generic robot manipulatorsen_US
dc.typeThesis
thesis.degree.departmentComputer Science
thesis.degree.disciplineComputer Science
thesis.degree.grantorTexas Tech University
thesis.degree.levelMasters
thesis.degree.nameMaster of Science

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