This paper describes EMULA, an experimental interactive system for the emulation of sensory robots. EMULA was constructed as a bridge between an existing language for driving actual robots and an existing geometric modeling system. The modeling system was extended to handle mechanisms, such as robots, and an emulation language was introduced to indicate certain specific physical effects, including sensory feedback, grasping and releasing of parts, and gravity. EMULA allows manipulation programs to be tested by users in interactive terminal sessions or in batch mode. Monitoring functions are provided to record actions, store selected views, and check for collisions.
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