工业机器人运动学图形仿真系统

Kinematics Graphic Simulation System for Industrial Robots

讨论了图形仿真系统中机器人及环境图形建模,机器人指令,轨迹规划,运动学正解逆解,碰撞检测,系统帮助等模块的实现方法。引入了迭代型算法来解决机器人运动学仿真系统的通用性问题。同时,采用一种快速碰撞检测算法实现了仿真过程中的实时碰撞检测,并给出了系统的应用实例。

The paper mainly discusses the realization of simulation modules,which include robot and environment building module,robot command module, trajectory planning module,kinematics module and collision check module.An iterative algorithm is introduced to solve the problem of generality of the kinematics simulation system of robots.At the same time,a fast algorithm is described to realize real time collision detection of the simulation system.