In this paper, an implementation of the dynamics of chain systems in a virtual reality (VR) environment is presented. The approach permits real-time dynamic robot workplace simulations as well as user immersion provided by VR. It is then demonstrated with a number of practical examples on a standard VR package. A new method for building the dynamic equations, which is developed from a linear geometric model; is presented. This method is particulary well suited to managing closed-chain systems. A tool to allow dynamic interactions between a robot and the user is then developed. The implementation is also described and the approach is validated by giving examples of robot simulations.
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