Interactive off-line robot path processor

Y. J. Choi, C. D. Crane, G. K. Matthew

Research output: Contribution to conferencePaperpeer-review


This paper describes a joystick based, interactive graphics, robot path planning system. The system assists an operator in rapidly generating a collision free robot motion off-line. The planned motion can be previewed on the graphics screen, and then modified if necessary. A 6 degree-of-freedom joystick controller is used as the operator's primary data input device and is coupled with a Silicon Graphics IRIS workstation and a PUMA 560 industrial robot. The paper details the novel programming aids which allow the user to efficiently specify and modify robot trajectories with emphasis placed on the development of a new coordinate system mapping which more naturally interfaces the joystick input device with the computer graphics workstation.

Original languageEnglish
Number of pages4
Publication statusPublished - 1988
EventComputers in Engineering 1988 - Proceedings - San Francisco, CA, USA
Duration: 1988 Jul 311988 Aug 4


OtherComputers in Engineering 1988 - Proceedings
CitySan Francisco, CA, USA

All Science Journal Classification (ASJC) codes

  • General Engineering


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