摘要
介绍一种双臂移动机器人的图形化编程与仿真控制系统。用户通过图形编程界面对机器人编程和任务规划,在三维仿真环境中预览和分析规划结果,最后将优化程序下载到真实机器人中进行控制。采用Java3D和VRML实现三维仿真;基于RT-Linux平台保证仿真控制的实时性;实现了多机器人机制以支持机器人的流水线协作。该系统现在支持日本安川电机株式会社的双臂移动机器人产品。
A graphical programming, simulation and control system is described which can provide Dual-Arm robot a task planning, 3D simulation and control environment. User can program a Dual-arm robot through graphical programming, preview and check motion simulation in 3D simulation, and then download optimal program to actual robot controller to ensure the desired results. The system uses Java3D and VRML for 3D simulation, and runs on RT-Linux platform to ensure Real-Time in simulation and control. Multi-robot mechanism is realized to support pipelining work or cooperation between robots. This system now supports Dual-Arm Mobile robot of YASWAKA Electric Corporation.
出处
《系统仿真学报》
EI
CAS
CSCD
北大核心
2006年第9期2541-2545,2581,共6页
Journal of System Simulation
基金
国家自然科学基金资助项目(60443007)
