通用的工业机器人运动仿真系统 IRKSS

A GENERAL KINEMATIC SIMULATION SYSTEM IRKSS FOR INDUSTRIAL ROBOT

  • 摘要: 本文介绍-个基于微机的通用的工业机器人运动仿真软件包(简称IRKSS).该软件包集机器人正、逆问题自动符号建模、机器人本体与环境物的三维几何造型、运动轨迹规划、运动图形仿真以及碰撞干涉检测等功能于-体.经过对多种机器人的作业运动仿真实践表明,IRKSS是正确而有效的.

     

    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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