摘要
提出了一种利用Vega来实现双臂空间机器人飞行及捕捉目标的轨迹规划仿真系统.简要介绍了仿真系统的开发环境及其实现方法.该仿真系统在SG I工作站上,利用Mu ltigen Creator建模工具和三维视景仿真软件Vega来实现空间机器人本体及被捕捉目标的建模和仿真,能为机器人的轨迹规划、运动学分析和运动控制的算法设计提供重要信息,并能对其理论和算法的可行性加以验证.
A trajectory simulation planning system based on Vega for dual-ann space robot to capture an object is presented. The development environment and realization method of the simulation system are introduced briefly. This simulation system runs on SGI workstation, and makes use of Multigen Creator modeling tool and the three-dimension vision simulation software Vega to realize the modeling and simulation of the robot body and the captured target. This simulation system can provide important information for robot trajectory planning, kinematics analysis and motion control algorithra design, and can be used to valldate the feasibility of theory and algorithms.
出处
《机器人》
EI
CSCD
北大核心
2005年第5期385-389,395,共6页
Robot
基金
国家863计划资助项目(863-2-4-1-2)
