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Development of Web-based User Script Linking System for Three-dimensional Robot Simulation

3차원 로봇 시뮬레이션 환경을 위한 웹 기반의 사용자 스크립트 연동 시스템 개발

Yang, Jeong-Yean
양정연

  • Received : 2018.12.20
  • Accepted : 2019.01.29
  • Published : 2019.02.28

Abstract

Robotic motion is designed by the rotation and the translation of multiple joint coordinates in a three-dimensional space. Joint coordinates are generally modeled by homogeneous transform matrix. However, the complexity of three dimensional motions prefers the visualization methods based on simulation environments in which models and generated motions work properly. Many simulation environments have the limitations of usability and functional extension from platform dependency and interpretation of predefined commands. This paper proposes the web-based three dimensional simulation environment toward high user accessibility. Also, it covers the small size web server that is linked with Python script. The non linearities of robot control apply to verify the computing efficiency, the process management, and the extendability of user scripts.

Keywords

Robot Simulation;Web Application;Nonlinear Mode;User Script;Robotic Motion