THE USE OF VIRTUAL REALITY TO DEMONSTRATE TRAJECTORY PLANNING AND CONTROL OF A 3-DOF UNDERACTUATED ROBOT IN A HORIZONTAL PLANE IN REAL-TIME1
IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING,
2011, Volume 11, Issue 2, Pages 7-19
Real-Time 3D animation and Real-Time Simulation results are reported for a 3R underactuated robot moving in a horizontal plane using Virtual Reality Toolbox™, Real-Time Windows Target™,Real-Time Workshop®, and interfaced to Simulink® under the MATLAB® environment. The reason behind Real-time 3D animation and Real-Time simulation is to provide animated real-time tools in a realistic fashion to demonstrate the effectiveness of the controllers in tracking the desired trajectory and to provide a tool for researchers to test their proposed controllers and observe their behavior using 3-DOF underactuated manipulator in real-time.
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