Graphical simulator for teaching robot with parallel wire type teaching device

In order to enable operators to teach the desired motion to a robot directly and easily, we are developing a parallel wire type device (PAWTED) which is attached to an end-effector of a robot. However, practical experiments and researching so far shows that there still exists a problem of singular points in which the robot moves fast unstably and out of limitation range in energy aspect. Therefore, we have to analyze movement of a robot in both teaching and playing-back modes as well as the pulling forces and moments which are felt by operators during process of teaching. This paper presents two simulators to simulate those problems. One is used to analyze movement of a 6-dof serial manipulator in both modes. The other one is used to analyze the forces and moments in teaching mode. The movements of the robot and the PAWTED are visualized graphically using Open Graphics Library (OpenGL). These simulators will be combined and used to design control algorithms of avoidance of singular postures.