Transputer-based virtual reality workstation as implemented for the example of industrial robot control

This paper describes new methods in robot simulation and control with virtual reality techniques based on a parallel computer architecture. A transputer-based virtual reality workstation was developed and integrated in the testbed at IPA Stuttgart. With this testbed, simulation concepts for industrial robots such as off-line programming, off-line teaching and robot work cell planning were evaluated. Furthermore, a real-time control system, running on the transputer network, was integrated in the simulation software VR4RobotS.