The application of VPython to visualization and control of robot

Abstract

The idea of using VPython software environment (Python programming language plus a 3D graphics module called Visual) for visualization and control of robot movements is presented in the paper. The control system has been worked out for walking robot, which is building at Institute of Mechanics and Machine Design Foundation of Technical University of Czestochowa. A method of modeling and programming of robot operation control system has been described. The used library to communication with external devices allows easy control of an arbitrary number of mobile robotic modules. The developed program allows for cooperation with any servo controller and enables work in simulation mode of system motion or control mode. In control mode, the control sequences are sent in real time to the executive system and realized move- ments are shown in the form of three-dimensional visualization on a computer screen. User has the possibility of dynamic defining the position of the separate or group of elements in the space, and the change of velocity and position.