Abstract：A graphical programming and 3D simulation environment is introduced for multi-robot and multi-mission,which is developed in JAVA language and is based on RTLinux platform.The icon-based and link-line method is adopted to edit the flowchart-like control applications quickly.The running management kernel tracks the information of program chart and adopts a mechanism which can interpret and process the program simultaneously.The kinematics command is executed by RTLab in the bottom layer and the processing result is returned to the upper layer.The three-dimensional simulation environment implemented by JAVA 3D displays the virtual robot movement dynamically.This environment can support both off-line programming and on-line debugging.Now,it can be used for Yaskawa robots Motoman UPJ and SmartPal,of which the latter one is a human like wheeled service robot.
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