VRSC: visual robotic simulation and control with MaTX/RtMaTX

A 3D graphic library, a graphic user interface library and its structure mode for MaTX/RtMaTX on Win32 are introduced. They are developed for the following purpose: to provide a visual and interactive man-machine interface for MaTX/RtMaTX, to give the 3D graphics for visually grasping the state of the dynamical system, and to unify the plant information including dynamics and appearance. A control system based on these libraries for existing 3-DOF manipulator is presented, in which the action commands are presented as a menu of window, and the current posture of the manipulator is displayed as a 3D figure while dynamical simulation or a real-time control is executed.