A computer simulation environment is being developed in which 3-D polyhedral models of robots and other objects are created and manipulated with nearly real time response. Color perspective images of scenes are generated with object faces displayed as shaded filled polygons illuminated from a point light source. An approximate but simple and fast hidden surface algorithm is used. The position and orientation of the virtual camera observing the scene can be changed interactively to focus on areas of particular interest. The system will eventually support development and initial debugging of robot application programs within the simulation environment, with subsequent automatic generation of programs for real target robots. It will also be used in research on model based intelligent robotic systems. This memo describes an initial set of capabilities that will be expanded in the future. A short videotape has been prepared that demonstrates many of the system's features.
"A Simulation Environment For Robot Software Development", Proc. SPIE 0579, Intelligent Robots and Computer Vision IV, (11 December 1985); doi: 10.1117/12.950810; https://doi.org/10.1117/12.950810