机器人装配作业规划的图形仿真

A Graphics Simulation for Robot Planning of Assembly Work

本文介绍了由作者研制的具有动态图形仿真的机器人装配作业规划系统.该系统可提供三个演示实例(房子、塔和桥),由操作器建模,积木世界环境建模,装配作业规划器以及图表显示构成.文中以造桥过程为例,说明了装配作业规划器的工作过程.装配作业过程可用图形动态显示之.此外,还介绍了如何利用画家消隐算法,以对机器人在搬运装配作业过程中所生成的动态图形进行消隐.

Presents a robot planning system for assembly work using dynamic graphics simulation. The system provides three examples of simulation (room,tower and bridge) and is composed of operator modeling,block worid modeling,planner for assembly work and graphics display. By an example,a process of planner for assembly work of making bridge is introduced, which can be displayed with dynamic graphics. Otherwise, how to use hidden lines elimination algorithm of painter is described,in order to eliminate hidden lines during generation of dynamic graphics in moving assembly work for robot manipulators.