1. Design of an Integrated Robot Simulator for Learning Applications Brendon Wilson April 15th, 1999

2. Outline Introduction Design Tools and Techniques Overview of Simulation Architecture Feature Set Demonstration The Future of REMOTE Summary Questions

3. Introduction Scope of REMOTE project –Remote experimentation for tele- learning –Prime audience: ENSC 489 students –Target experiment: Scorbot ER-III Scope of Thesis –Simulation platform for Scorbot –Flexible and maintainable architecture for future additions

5. Design Tools and Techniques Design Patterns –Provide abstractions to maintain flexibility –“Ready-made” solutions –Creational, structural, or behavioral Unified Modeling Language –Documentation of design Java –Implementation language –Platform independent

6. Overview of Simulation Architecture

8. Solution to Typical Problem File Parsers for Simulation Engine –Responsible for parsing 3D models, robot configuration, simulation files –Should be replaceable without changing core application –Program to interface not implementation –Externally configurable

9. UML for Strategy Design Pattern

10. Sample Implementation Detail

11. Feature Set Re-configurable robot simulation –configure model using Denavit-Hartenberg parameters –replaceable inverse kinematics and interpolation modules Replaceable Architecture Components –File Parsers: 3D Models, Simulation Language, Robot Configuration Language Full Internationalization –Images, error messages, menus

12. Demonstration

13. The Future of REMOTE Integration with REMOTE robot server Integration on new Java3D Loaders Simulation of multiple robots –Possibilities for manipulators –CAD/CAM machinery General Inverse Kinematics Engine Additions to the user interface Other possible applications?

14. Summary Functional Scorbot simulator ready for integration with remote-experiment server Most functions of simulation engine replaceable without alterations to existing code base Simulation architecture simple enough that new features can be added without major overhaul of existing code

15. Questions