Computer Animation of Modular Robotic Systems, page 6

A world model may be described in many different ways. One possible approach involves dividing the world into a three-dimensional grid. Unfortunately a ten meter cubical workspace described in this way with a resolution of one millimeter has 1,000,000,000,000 elements. This is quite a large database to be repeatedly faced. Other methods of describing the world model are more object oriented. A list or graph of the type and location of objects in the environment can be created. Modular computer animation may be applied to either cad-based or object-oriented types of world model description.

Conclusions – A system to interactively assemble modular and reconfigurable robotic systems in a simulation environment has been discussed. A finite set of one, two and three degree of freedom joint modules and generic links forms the basis of a general mechanical architecture. These modules may be scaled and assembled to form an extremely large class of robotic systems. Computer animation is currently used in the programming and simulation of existing industrial robots. There are, however, many benefits to be gained by the incorporation of modularity, both in the computer animation of the robotic system and in the design of the actual robot. Finally, the application of modular computer animation to many current robotics research topics has been discussed.

The incorporation of a generalized modular mechanical architecture greatly simplifies the creation of computer animations of robotic systems. The modular computer animation may be quickly constructed with objects that the robotics engineer is familiar with, such as links and joints. A modular approach to computer animation allows increasingly complex systems to be quickly constructed and easily used by the design engineers involved in the development of new robotic systems and technologies. The animation may be used to visually present kinematic data such avoidance algorithms, redundant inverse kinematics routines and from dynamic simulations.

A generalized modular mechanical architecture has much to offer the field of robotics. Modular robots may be reconfigured to perform many different tasks, thereby reducing the threat of obsolescence and reducing costs. The design of modular robotic systems is simplified because the design parameters may be broken down and addressed in small groups that are contained within each module. A modular architecture facilitates the integration of new technologies by allowing the technology to be incorporated into the design of a single module without requiring that the entire system be redesigned.

In this regard, it now becomes feasible to collect lessons learned from modular robot test beds, from exceptional applications in space, on the ocean floor and from widely used industrial robots in a knowledge base to support expert system development to make modular component selection and system design possible by the non-specialist in robotics. This can include requirements definition from the intended application as well as guidance on criteria to select a best' modular design. The best modern example of this modular architectural approach is found in today's personal computers. The use of expert systems to aid in system configuration made it possible for marketing personnel to assemble VAX computers on demand to match customer requirements.