邱长伍, 曹其新, 长孙郁男, 横山和彦. 机器人图形化编程与三维仿真环境[J]. 机器人, 2005, 27(5): 436-440.
引用本文: 邱长伍, 曹其新, 长孙郁男, 横山和彦. 机器人图形化编程与三维仿真环境[J]. 机器人, 2005, 27(5): 436-440.
QIU Chang-wu, CAO Qi-xin, IKUO Nagamatsu, KAZUHIKO Yokoyama. Graphical Programming and 3D Simulation Environment for Robot[J]. ROBOT, 2005, 27(5): 436-440.
Citation: QIU Chang-wu, CAO Qi-xin, IKUO Nagamatsu, KAZUHIKO Yokoyama. Graphical Programming and 3D Simulation Environment for Robot[J]. ROBOT, 2005, 27(5): 436-440.

机器人图形化编程与三维仿真环境

Graphical Programming and 3D Simulation Environment for Robot

  • 摘要: 介绍一种采用JAVA开发、基于RTL inux平台的适合多机器人多任务的图形化编程与三维仿真环境.采用图标和连线方式快速建立具备流程图特点的控制程序.运行管理内核实现程序图结构的信息流向跟踪,对程序运行采用边解释边执行机制.机器人运动学指令由底层RTLab执行,结果返回上层;由Java3D实现的三维仿真环境可动态显示机器人的运动过程.该环境支持离线编程和在线调试.目前支持日本安川公司研制的MotomanUPJ和SmartPal类人轮式移动服务机器人.

     

    Abstract: A graphical programming and 3D simulation environment is introduced for multi-robot and multi-mission,which is developed in JAVA language and is based on RTLinux platform.The icon-based and link-line method is adopted to edit the flowchart-like control applications quickly.The running management kernel tracks the information of program chart and adopts a mechanism which can interpret and process the program simultaneously.The kinematics command is executed by RTLab in the bottom layer and the processing result is returned to the upper layer.The three-dimensional simulation environment implemented by JAVA 3D displays the virtual robot movement dynamically.This environment can support both off-line programming and on-line debugging.Now,it can be used for Yaskawa robots Motoman UPJ and SmartPal,of which the latter one is a human like wheeled service robot.

     

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