Graphics support for jet boom control

Recently, a real-time three-dimensional graphical simulation system for the JET articulated boom has been implemented. The simulator is especially intended to support the remote handling operator during fusion reactor in-vessel manipulation tasks. The simulator produces real-time synthetical display of the articulated boom, its various end-effectors, its camera arms, together with the working environment. The characteristic features of the system are: geometry and configuration databases of the remote handling equipment and the environment, off-line teach facilities, numeric obstacle avoidance algorithms, solid or wireframe representation of one or more simultaneous operator selectable views, camera tracking and pointing control facilities