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The word articulated means broken into sections by joints. A robot arm with articulated geometry bears some resemblance to the arm of a human. The versatility is defined in terms of the number of degrees of freedom. For example, an arm might

Several early commercial virtual reality applications used video mapping, including Mandala, which relied on a modified Commodore Amiga, and the TV station Nickelodeon, which used a video-mapping application on its Nick Arcade to overlay competitors on a giant video arcade game A third technique, and perhaps the most widely used, is called immersive VR Immersive systems typically use some kind of headmounted display (HMD) to provide three-dimensional video and stereophonic sound, thus immersing the user in the world created by the application The helmet also houses motion-detection devices, which tell the application where the user is, what direction they are looking, and what they should be seeing and hearing The helmet is usually tethered by a cable back to the computer, although some new systems rely on wireless connectivity.

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34-2 Degrees of rotation. Angles X, Y, and Z are measured relative to axes J1, J2, and J3. This robot arm employs articulated geometry.

The echo return time for a sonar signal, for example, might be measured every few degrees around a complete circle in the horizontal plane, resulting in a set of range points A better plot would be obtained if the range were plotted every degree, every tenth of a degree, or even every hundredth of a degree But no matter how detailed the direction resolution, a 2D range plot is done in only one plane, such as the floor level in a room, or some horizontal plane above the floor The greater the number of echo samples in a complete circle (that is, the smaller the angle between samples), the more detail can be resolved at a given distance from the robot, and the greater the distance at which a given amount of detail can be resolved.

A variation of HMD-reliant systems is the so-called Cave, like the one conceived and created at the University of Illinois at Chicago s Electronic Visualization Laboratory Virtual reality is the descendent of a long line of computer graphics research that tries to incorporate more modalities of perception and interaction into our interface with computers, says Dan Sandin, Co-Director of the Lab Many people believe that VR systems have to use helmets and data gloves, which are actually somewhat restrictive We created the Cave as a solution to the problem of reduced fields of vision that plague many of the HMD-type VR systems The Cave is a projection-based virtual reality system, in which threedimensional images are projected on all six sides (four walls, the ceiling and the floor) The user wears a pair of lightweight polarized glasses that.

have three degrees of freedom: base rotation (the equivalent of azimuth), elevation angle, and reach (the equivalent of radius). If you re a mathematician, you might recognize this as a spherical coordinate scheme. There are several different articulated geometries for any given number of degrees of freedom. Figure 34-2 is a simplified drawing of a robot arm that uses articulated geometry.

Three-dimensional (3D) range plotting is done in spherical coordinates: azimuth (compass bearing), elevation (degrees above the horizontal), and range (distance) The distance must be measured for a large number of diverse orientations In a furnished room, a 3D sonar range plot would show ceiling fixtures, things on the floor, objects on top of a desk, and other details not visible with a 2D plot The greater the number of echo samples in a complete sphere surrounding the robot, the more detail can be resolved at a given distance, and the greater the range at which a given amount of detail can be resolved..

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Another mode of robot arm movement is known as cartesian coordinate geometry or rectangular coordinate geometry. This term comes from the cartesian system often used for graphing mathematical functions. The axes are always perpendicular to each other. Variables are assigned the letters x and y in a two-dimensional cartesian plane, or x, y, and z in cartesian three-space. The dimensions are called reach for the x variable, elevation for the y variable, and depth for the z variable. Figure 34-3 depicts a robot arm capable of moving in two dimensions using cartesian coordinate geometry.

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