机器人作业过程的动态图形仿真

Dynamic Graph Simulation for Robot Tasking

本文阐述了机器人作业运动过程的计算机动态图形仿真的基本原理和实现方法,介绍了机器人本体及其环境物的三维几何造型、图形示教编程技术以及动画制作技术,并指出了在研制机器人的运动仿真系统时应考虑的几个问题。最后给出了Adapt Ⅱ机器人搬运作业过程的图形仿真实例。

This paper introduces a basic theory and implementation method of computer graphic simula-tion for robot tasking.The contents are 3—D geometric modelling for robot body and its environ-ment objects,technology of graphic teaching programming for robot tasking,and making tech-nique for animated cartoon.It is pointed out that some important problem should be taken into ac-count in designing a robot kinematic simulation system.As an example,graphic simulation demon-stration of Adapt Ⅱ robot in transporting is given in the end of the paper.