摘要
本文在APOLLO CAD工作站研上制了一套机器人实体图形仿真系统。用实体模型(Solid Model)时机器人进行了几何造型,在关节坐标空间和直角坐标空间对机器人进行了轨迹规划和实体图形仿真,能逼真地再现机器人运动的全过程和其运动特性,能判断机器人在运动过程中是否和周围的障碍物发生碰撞和干涉。这套实体图形仿真系统对设计、研制新的机器人和机器人性能研究是一个有力的工具。
This thesis works out a solid graphics simulation system for robot on the APOLLO CAD work station. This system includes solid modelling, graphics simulatiton, kinematics analysis, trajctory planning, collision and interferences detection. It is a powerful tool not only to the design and manufacturiny of new robots but also to the kinematics and dynamics analysis of old robots.
关键词
机器人
图形仿真
实体模型
robot
solid model
geometry modelling
graphics simulation
trajectory planning
