To support the students in studying the "Modeling and simulation of kinematic systems" course, some VRML models and dependent java applets were created by the PRT RichODL group. These simulation environments are now integrated into the courseware.

IMPORTANT: To view these 3-D-VRML-models your Web-browser needs a VRML-plugin, please take a look at the download section. The examples will not work (see FAQ) with the SUN Java Plugin (e.g.) Mozilla, try Netscape 4.X or IE with enabled Microsoft JVM instead! Windows XP with service pack 2 does not have integrated a Microsoft Java Virtual Machine anymore, the VRML-Example will not work anymore in this configaration! Only the Plugin-less variants for Euler and Roll Pitch-Yaw angles are still working with XP SP2 and SUN JVM!
 

VRML based tool	description	help on usage,  click the icons below	view it in couseware context
PUMA-Robotsimulation, new* mutithreaded version	The PUMA-Robotsimulation is a tool which allows the user to move all the joints, teach joint positions and to animate motion between the teached positions of a virtual PUMA robot. NEW, mutithreaded version!		Not integrated in course material.
PUMA-Robotsimulation	The PUMA-Robotsimulation is a tool which allows the user to move all the joints, teach joint positions and to animate motion between the teached positions of a virtual PUMA robot.		Modeling and simulation of kinematic systems Frames and Transformation Forward kinematics
PUMA-Robotsimulation light	The same as the PUMA-Robotsimulation with a taller VRML model without displayable joint coordinate systems. This version is intended for slower computers ( < Pentium, no OpenGL-graphics).		Only for slow computers
PUMA-Robotsimulation with inverse kinematics BETA	A different version of the robotsimulator for demonstrating inverse kinematics and Denavit-Hartenberg matrices. Preview beta version!		Not integrated in course material.
Euler angle visualization NEW, try also this Plugin-less working prototype! (Integrated in modified Java-only courseware.)	This tool provides an easy interface to explore the rotation transformation with Euler angles.		Modeling and simulation of kinematic systems Frames and Transformation Euler angles
Roll-Pitch-Yaw angle visualization NEW, try also this Plugin-less working prototype! (Integrated in modified Java-only courseware.)	This tool provides an easy interface to explore the rotation transformation with Roll-Pitch-Yaw angles.		Modeling and simulation of kinematic systems Frames and Transformation Roll-Pitch-Yaw Angles