一个通用的工业机器人运动学图形模拟系统的设计与实现

THE DESIGN AND IMPLEMENTATION OF A GENERAL GRAPHICAL SIMULATION SYSTEM OF KINEMATICS FOR INDUSTRIAL ROBOTS

作为CAD/CAM/Robotics一体化系统的一个组成部分,机器人图形模拟系统的通用性是在构造系统时必须解决的问题。本文引入了一个迭代型的算法来解决机器人运动学模拟系统的通用性问题。使用此算法,构造了一个通用的工业机器人运动学图形模拟系统,该系统能建立起由多台具有不同结构的机器人组成的工作现场的模型,并可对其中的机器人进行示教编程。机器人的形态和被编程的动作都可以用三维图形的形式显示在图形终端上。

In this paper, an iterative algorithm is introduced to solve the problem of generality of the kinematic simulation system of robots. A general graphical simulation system of kinematics for industrial robots was constructed, in which a worksite model including robots of different types can be established and the off-line programming for these robots is available. The 3-D image of the robots and their programmed motion can be displayed on graphical terminal.