A force/torque display for robotic arm

摘要

A computer generated-cursor element 10 in the form of a polyhedron which is asymmetric about all three mutually perpendicular axes of rotation is displayed against computer generated Cartesian axes and is translated to represent force information and is rotated to represent torque information. A cursor reference element 12 is permanently displayed at the origin. The size of the cursor element 10 changes in proportion to its movement along the axes.