VR4RobotS, a new off-line programming system based on virtual reality techniques

This paper describes a new off-line programming system based on Virtual Reality techniques. 3D data will be taken of a scene and presents this information as a stereoscopic computer generated images to a user equipped with an eyephone. The head movements are tracked by sensors and the image is updated accordingly in real-time. Sensors also track hand and finger movements, allowing 3D input from the user in a way which is not possible with traditional interfaces such as keyboard, mouse or joystick.