潘存云, 高理基. 通用的工业机器人运动仿真系统 IRKSS[J]. 机器人, 1992, 14(2): 20-24..
PAN Cunyun, GAO Liji. A GENERAL KINEMATIC SIMULATION SYSTEM IRKSS FOR INDUSTRIAL ROBOT. ROBOT, 1992, 14(2): 20-24..
Abstract：This paper describes a new microcomputer-based interactive package IRKSS for the kinematic simulation of industrial robots.The package consists of seven main functional blocks:menu tree manager;automatically derived symbolic equations of robots;geometric modelling of a robot body and its work environment;trajectory planning;robot motion graphic simulation;graphic teaching programming;motion pathverifying and collision testing between robot and its work environment.So far,the package has been usedin simulating a lot of robots.The results show it is correct and efficient.
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