摘要
采用UG和其二次开发接口OpenCAPI,对日本FANUC公司生产的M-16iB/20型机器人建立了三维运动仿真模型。采用Denavit-Hartenberg方法建立了连杆坐标系下的机器人运动学模型,并采用OpenC编写了运动学正、逆解的程序,阐述了模型的建立方法及过程,实现了在UG环境下的机器人按指定路径的运动仿真。最后总结了该仿真系统的主要特点,为机器人动力学及离线编程技术的研究打下了基础。
A 3-D kinematics simulation model was built adopting UG and its redeveloped kits interface Open C API for M-16iB/20 robot from FANUC of Japan. Denavit-Hartenberg method was employed to set a robot kinematics model under the coordinate links of frame, and the positive and inverse solution programs for kinematics were complied in Open C. This paper states the establishing approach and the progress of the model and records the implementation of the kinematics simulation of the robot subject to a given line in UG condition. Finally the main properties of the simulation system were concluded, which laid a foundation for the study of robot kinetics and offline programming technique.
出处
《计算机应用与软件》
CSCD
北大核心
2008年第6期169-170,185,共3页
Computer Applications and Software
