Simulation, remote access, and monitoring of a robot in Java

摘要

This article presents a virtual simulator of a manipulator robot. The simulator has been developed in Java, using the standard API extension Java 3D. The dynamic behaviour of the simulated robot reproduces the dynamic behaviour of a real prototype. In addition, collisions with the gripper can be detected. A remote access module has been also developed to move the real robot, and a monitorization module to follow the robot movements and to check that the virtual model fits the real prototype.