摘要
虚实结合的机器人仿真平台作为主从式机器人的虚拟主手和新样机研发的辅助工具,有着广泛的应用价值,而可重用性是平台设计的一个重要问题。文章提出一种易重用、模块化的仿真平台结构;探讨妨碍平台重用的两个关键问题:操作运动学和视图显示。通过建立统一的软件结构和运行机制提高平台可重用性。多个虚拟主手的开发实践,验证了平台结构的合理性和实用性。
Robotic simulation platform with physical control used as host hand of master-slave robotic system or assistant tool of new prototype research has an extensive application value. Reusability is an important topic related to platform design. Reusable and modular platform architecture is developed; two obstacles of reuse, operational kinematics and visual displaying, are discussed. The reusability is improved by establishing unified software structure and operation mechanism. Several robotic applications have verified the rationality and practicality of platform structure.
出处
《制造业自动化》
北大核心
2008年第8期54-57,62,共5页
Manufacturing Automation
关键词
机器人
仿真平台
运动学
软件重用
虚拟现实
robot
simulation platform
kinematics
software reuse
virtual reality