A GENERAL KINEMATIC SIMULATION SYSTEM IRKSS FOR INDUSTRIAL ROBOT

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.