A very (and I mean very) simple robot arm simulator using OpenGL and Dean Butcher's Interactive Computer Graphics implementation for Linux. Edward Angel's original codes of Interactive Computer Graphics for Windows and Mac can be reached here.
To be able to use the makefile, you should place your robot-sim folder inside a folder located in Dean Butcher's implementation of Interactive Computer Graphics.
Here is a rapid walkthrough to use the simulator (which is also reachable by pressing "h" after opening):
To control the robot: First, select an arm member (either the base, the lower arm or the upper arm) by clicking on it.
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Then, use the following keys for rotation around the joints:
- S for counter-clockwise (CCW) and W for clockwise (CW) rotation around x-axis
- Z for counter-clockwise (CCW) and X for clockwise (CW) rotation around y-axis
- A for counter-clockwise (CCW) and D for clockwise (CW) rotation around z-axis
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To manipulate the scene use the following keys:
- L key to zoom in and shift + L keys to zoom out
- J and K keys to move along x-axis (left and right)
- U and M keys to move along y-axis (up and down)
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Use I key for going back to the initial position of the robot.
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Use F key for going to the shut-off position of the robot.
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Press Q to quit the simulator.