Adept One Four-Axis SCARA Robot

The intent of the RobotView project is to provide an animated interactive graphical
representation of the Adept One Robot. 

The robot is composed of discrete points and polygons which are munipulated to accurately
display the Adept in action. 

The object takes the X,Y,Z coordinates and tool rotation and calculates the link parameters
for the robot. 

The resulting "q" link parameters are then displayed. 

The program then transforms the points into the base coordinates using the new transformation
matrices.  After the robot has been transformed into position the "Viewing Parameters" are
added, followed by the perspective transformation matrix operations to generate a 2-d Display. 
A backface polygon test is given to the projected polygons to ensure that polygons with
normals less than zero are discarded.  The resulting figure is drawn from base to tool so that
the tool has priority over the arms and base. 

Integrity of the Robot: 

A check is made of the link parameter to calculate what the X,Y values should be from the
links.  These values can be compared with the values read from the sliders to verify the
actions of the robot.