RESEARCH ON ROBOT OFF-LINE PROGRAMMING BASED ON VIRTUAL REALITY
REN Qian1, WANG Shu-guo1, CHEN Xiang-li2, FU Yi-li1, CAI He-gao1
1. Robot Research Institute, Harbin Institute of Technology, Harbin 150001; 2. Yuanda Automation Engineering Corp. , Harbin Institute of Technology, Harbin 150001
任倩, 王树国, 陈祥立, 付宜利, 蔡鹤皋. 基于虚拟现实的机器人离线编程技术的研究[J]. 机器人, 2003, 25(2): 172-177..
REN Qian, WANG Shu-guo, CHEN Xiang-li, FU Yi-li, CAI He-gao. RESEARCH ON ROBOT OFF-LINE PROGRAMMING BASED ON VIRTUAL REALITY. ROBOT, 2003, 25(2): 172-177..
Abstract：This paper presents a robot off-line programming system based on virtual reality. In the article we describe the system structure, and discuss the robot virtual simulation environment modeling, the robot task generation based on virtual reality hardware devices and the collision detection technique. The system establishes advanced man-machine interactive interface based on virtual reality that makes robot off-line programming quicker, easier, and more intuitive.
[1] 曾芬芳. 虚拟现实技术. 上海交通大学出版社, 1997 [2] 赵春霞.虚拟环境下机器人装配单元编程与系统仿真技术的研究.哈尔滨工业大学博士学位论文.1998 [3] 熊有伦,丁汉等.机器人学.机械工业出版社,1992 [4] 付宜利.基于动态图形仿真的机器人离线编程技术研究与系统开发.哈尔滨工业大学博士学位论文.1996 [5] 王家钦.虚拟现实——不仅是仿真.机器人情报.1993,4:3-7 [6] G C Burdea. Invited Review: The Synergy Between Virtual Reality and Robotics. IEEE Transaction on Robotics and Automation. 1999,15(3):400-410
