摘要
本文介绍一个智能化的机器人仿真系统的设计与实现,包括机器人运动学及其逆问题,轨迹规划、工作空间几何描述,碰撞和干涉测试,图形生成和处理以及动画技术等内容.系统中将人工智能技术用于机器人运动学及其逆问题解的公式推导,采用图形集合运算完成图形输人并提出一种三维图形快速生成和处理的算法,能适用机器人实时图形仿真.该系统使用 Turbo-Pascal 语言在 IBM-PC 机上实现.
In this paper,an intelligent robot simulation system is introduced.It includes robot kinematics and ts inverse problems,trajectory planning,workspace determination,collision and interferences detectiongraph generation and processing,and animation technology.Artificial intelligence technoloty is used toderive the formulae of robot kinematics and inverse solutions.Assembly algorithms are used to input3-D graphs,and fast and efficient algorithms for 3-D dynamic graphs are presented.It is appropriate tothe purpose of real time graph simalation of robot.The programs are written in Turbo-pascal and im-(?)mented on IBM-PC/XT.
出处
《机器人》
EI
CSCD
北大核心
1989年第3期36-40,共5页
Robot
关键词
机器人
仿真系统
计算机图形
AI
robot kinematics
computer graphics
artificial intelligence
geometry modelling
