摘要
本文给出了一个基于微机的机器人离线编程系统.该系统包括机器人语言处理模块,运动学规划模块,机器人及环境物的三维构型模块,机器人运动仿真模块,通信模块和主控模块.系统的软件部分全部用C语言编写.文中着重阐述了机器人及环境物的几何造型方法和运动仿真的动画技术.最后给出了运用该系统的一个实例.
A micro-c)mputer-based system for robot off-line programming is described. The system consists of six main function blocks, namely, menu tree manager, robot language processor, kinematics and trajectory planning of manipulator, three-dimensional geometric modelling of robot body and its working environment, robot motion graphic simulation and communication, all written in C language. Emphasis is placed on three-dimensional geometric modelling of robot and its working environment as well as the animation technique for robot motion simulation. The correctness and effectiveness of this system are demonstrated with an example.
出处
《华中理工大学学报》
CSCD
北大核心
1992年第5期39-45,共7页
Journal of Huazhong University of Science and Technology
关键词
机器人
离线编程
通信
微机
robot
off-line programming
communication
3-D modelling
motion simulation
