摘要
介绍了新设计的一种同构阵列式模块化自重构机器人的模块结构和运动方式,针对这种机器人系统,为了验证控制算法,构建了可视化的自重构机器人仿真平台。选用Java 3D作为开发工具,采用类的封装和线程技术,设计了仿真平台的软件结构,并实现了在界面上进行交互式地显示三维运动过程。在此平台上对模块的运动进行仿真,给出了一个4×2×2矩形阵列模块的平移仿真示例,验证了该仿真平台的有效性。此仿真平台界面简单,操作方便,能够实现算法仿真和运动显示。
This paper introduces the module structure and motion style of a newly designed homogeneous, lattice Modular Self-Reconfigurable Robot（MSR）. Aimed at this robot, in order to verify the control algorithm, a visual simulation environment of MSR was designed. Java 3D technology was selected as development tool. The software framework of this simulation environment was designed utilizing the class and multi - thread technology, the interactive movement displaying on screen was also realized. In the environment, motion of modules was simulated, a locomotion movement of 4 × 2 × 2 rectangle lattice modules was demonstrated, and the efficiency of the simulation environment was testified. This simulation environment can implement algorithm simulation and movement display, and the interface of which is easy to operate.
出处
《计算机仿真》
CSCD
2006年第11期271-274,共4页
Computer Simulation
基金
国家自然科学基金(50305021)
关键词
模块化
自重构机器人
仿真
Modular
Self - reconfigurable robot
Simulation
