Software component enabling the development of robotics applications

act/X is an activeX component library that enables you to develop robotics software or animation applications involving 3D articulated objects (3D simulation software, robot programming software, simulation of machines moving in space, etc).

act/X is thus a "tool box" composed of functions written in C language necessary to modelize and animate articulated objects in 3D. The main functions available within act/X are object modelization, collision detection and automatic robotics trajectory search to avoid obstacles. The activeX format enables the user to use the development language of his choice (VisualBasic, VisualFoxPro, Delphi, PowerBuilder, HTML avec JavaScript ou VBScript, etc).

Some examples of use:

• development of robotics applications (nuclear robotics with Electricité de France)
• 3D simulation software (industrial robotics with STÄUBLI)
• development of robotics software (medical robotics with AP Technologies)
• software for machine simulation (paint deposit simulation and programming of painting machines for the automotive industry with SAMES).

Main technical features

Functions enabling you to build the user interface

• Programming through highlevel objects (menus, icons, buttons).
• Management of windows for 3D visualisation:

- memorizing of view points (up, down, left, perspective, centred, etc),

- multi-window function with possible display of 4 simultaneous views,

- zoom,

- rotation,

- wireframe and mixed display,

- object representation attributes.

3D object modelization function

These functions are available in the act/modeler software provided with the act/X library:

• 3D objet modelization from volumetric primitives, from facets or from polynomial structures.
• Modelization of polynomial surfaces.
• Articulated systems and robots modelization: anthropomorphic robots, numerically controlled machine tools, prismatic and articulated/rotary links with axis movement definition.
• Taking into account of the kinematics of modelized robots, via the reckoning of the direct and reverse kinematics.
• Importation of 3D models coming from DXF, IGES, STEP format files.

Trajectory search

• Automatic reckoning of trajectories without collisions (taking into account of the security distance).
• Generation of trajectories along complex curves.
• Cell management including several robots.
• Taking into account of redundant robots.

Simulation

• Realistic robotics simulation with taking into account of the robot’s specificities (speed, acceleration, singular points).
• Collision detection for all 3D objects.

Saving

• Saving of a cell in ACT-L format (ACT language).
• Saving of trajectory for memorisation and real use.

Tools and services provided

• act/modeler software (tool enabling you to define the articulated geometric models).
• Executable version including an IGES or STEP format interface to enable the importation of CAD 3D files into the act/X environment.
• Exploitation license.
• Documentation.
• Assistance service.