双臂移动机器人三维仿真与离线编程系统的研究

Research on 3D Simulation and Programming System of Dual-arm Mobile Robot

文章介绍了一种双臂移动机器人三维仿真与离线编程系统。用户通过图形编程界面对机器人进行任务规划,在三维仿真环境中预览和分析规划结果,最后可将优化程序下载到真实机器人中以进行控制。系统运行于RT-Linux平台,采用Java3D实现三维仿真,能实现多机器人机制。目前该系统支持日本安川公司研制的SmartPal双臂移动机器人。

This paper describes a 3D simulation and progamming system which provides dual - arm robot an easy way of 3D simulation and programming. User can program a dual - arm robot through graphical programming, preview and check motion simulation in 3D simulation, 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 cooperation between robots. The system can be used to YASWAKA company＇ s product SmartPal which is a dual - arm mobile robot.