摘要
本文介绍一个基于微机的通用的工业机器人运动仿真软件包(简称 IRKSS).该软件包集机器人正、逆问题自动符号建模、机器人本体与环境物的三维几何造型、运动轨迹规划、运动图形仿真以及碰撞干涉检测等功能于一体.经过对多种机器人的作业运动仿真实践表明,IRKSS 是正确而有效的.
This paper describes a new microcomputer—based interactive package IRKSS for the kinematic simula-tion of industrial robots.The package consists of seven main functional blocks:menu tree manager;auto-matically derived symbolic equations of robots;geometric modelling of a robot body and its work environ-ment;trajectory planning;robot motion graphic simulation;graphic teaching programming;motion pathverifying and collision testing between robot and its work environment.So far,the package has been usedin simulating a lot of robots.The results show it is correct and efficient.
出处
《机器人》
EI
CSCD
北大核心
1992年第2期20-24,共5页
Robot
基金
国家"863"高技术项目
关键词
微机
机器人
运动仿真
kinematic simulation
computer graphics
robot
