摘要
隧道凿岩机器人是一个多臂多关节系统 ,在工作过程中存在多种干涉 ,使得动态规划的问题不易解决。本文对OpenGL与BorlandC++作了简单介绍 ,并利用OpenGL与BorlandC++混合编程 ,实现了多臂隧道凿岩机器人动态规划系统。为多臂凿岩机器人的孔序规划、路径规划提供了有利的指导 ,并为其它多臂多关节机器人动态仿真展示了一种简便的方法。
Rock\|drilling robot is a multi\|boom and multi\|joint system.It's not easy to solute the dynamic programming problems because of several kinds of intervention.A brief introduction to OpenGL and BorlandC ++ was made in this article,and a dynamic programming system of multi\|boom rock\|drilling robot was achieved by programmed in both OpenGL and Borland C ++ .A useful guidance for bore\|planning and path\|planning of rock\|drilling robot was provided,and a simple method for dynamic simulation of other multi\|boom and multi\|joint robot was also presented.
出处
《凿岩机械气动工具》
2001年第4期20-23,共4页
Rock Drilling Machinery & Pneumatic Tools
