机器人运动状态的实时漫游

Realtime navigation for moving robots environment

在机器人化生产系统开发工具软件 (ROBVR)的主要设计目的之一 ,就是旨在开发一个面向机器人化汽车生产线的虚拟构造、布局检验和生产流程动态仿真的软件工具平台。为了在 ROBVR系统中实现在机器人各关节运动的同时做实时的漫游 ,通过一个编译连接器 ,根据事先确定的机器人任务描述文件 ,以便生成仿真时所需要的机器人各关节在每一帧中的位移量 ,从而解决了机器人各关节运动规律的离线计算问题。由于在预处理阶段就完成了大量的计算工作 ,因此利用该方法 ,可大大加快在线仿真时的速度。文中通过一个机器人系统实例的模拟 。

Robots have been increasingly used to perform repetitive manufacturing tasks in advanced automatic manufacturing systems. The robotics manufacturing systems development kit (ROBVR) aims to help engineers construct robot aided automobile assembly lines, check the layout feasibility, and simulate the assembly line manufacturing procedure in real time. The movement of each robot joint is completed off line to realize real time walkthrough with the robots movement based on the ROBVR system. A compiler is used to prepare, the predetermined task description files for the robots which contain the joint displacement data for every frame needed in the simulation. Therefore, much of the computation work can be completed during the preprocessing, which accelerates the simulation speed. The simulation of robot assembly systems have shown the efficiency of this method.