Robot Visualization System for Windows (RVS4W) User's Manual

Abstract

Visualization plays an important role in the design of new robots or work environments. Robot Visualization System for Windows (RVS4W) is an updated cross-platform version of its predecessor, the Robot Visualization System (RVS). RVS was developed at the Centre for Intelligent Machines, McGill University, in the 1990s. It was developed on IRIX, the UNIX dialect of Silicon Graphics Inc. (SGI). Since IRIX is native to SGI workstations, RVS does not run on Intel-based PCs. Therefore, the source code of RVS had to be modifled in order to use this tool on an Intel-based PC. Based on the two important attributes of RVS4W, i.e., open source and platform-independent, the proper development tools were chosen. RVS4W is an updated version of RVS. The user interface was rewritten from scratch. We have made an efiort to keep the user interface consistent and user-friendly. The existing kinematics engine was also debugged and improved. RVS4W incorporates many new features including routines to evaluate the characteristic length, maximum reach, optimum posture|for minimum condition number|and robot conditioning. This manual introduces the user to the window-driven environment of RVS4W. Acknowledgements