摘要
针对机器人三维实时运动仿真常用方法中不能与控制系统开发平台相融合、缺乏算法支持的问题,提出一种机器人三维实时运动仿真方法.该方法使用Solid Works软件作为机器人三维模型显示的载体,采用Visual Studio C++软件对该三维软件进行二次开发,将控制系统与三维实时仿真平台相融合,不仅能够对机器人下达控制指令,而且利用三维实时仿真平台对该机器人的运动进行实时仿真.研究表明,使用这种实时运动仿真方法能够在保证精度的前提下,使用反馈回的位置数据实时驱动相应的等比例三维模型,实时记录机器人的运动数据,使机器人的运动更加直观和准确.
Aiming at the problem that the three-dimensional real-time motion simulation method of robots cannot fuse with the control system development platform and lacks algorithms support, a three-dimensional real-time motion simulation method was proposed. In this method, Solid Works software works as a carrier of the robot three-dimensional model.This three-dimensional software is secondary development by Visual Studio C＋＋ software. Control system and the threedimensional real-time simulation platform are integrated, then not only can the robot be commanded, but also the motion of the robot can be real-time simulated by the three-dimensional real-time simulation platform. Research shows that, by using this method, the proportional three-dimensional model can be real-time driven by using the positional data that be fed back on the premise of guaranteeing precision, and the motion of robots can be displayed intuitively and precisely,and the data generated by movement of robots can be completely recorded.
出处
《河北工业大学学报》
CAS
2015年第4期42-47,共6页
Journal of Hebei University of Technology
基金
国家高技术研究发展计划(863计划)(2011AA040201)
机器人技术与系统国家重点实验室开放研究项目(SKLRS-2013-ZD-04)
关键词
机器人
坐标变换
轨迹跟踪
实时仿真
robots
coordinate transformation
trajectory tracking
real-time simulation
