XAnimate: an educational tool for robot graphical simulation

XAnimate has been developed at The Ohio State University to provide portable graphical simulation capabilities at no cost. XAnimate's graphical user interface, C library of functions, and a set of predefined objects enable users to easily display animated wireframe images or solid color objects for robotics systems of any topological structure. The use of X Windows and C allows the package to be ported to almost any Unix system.