摘要
本文提出了基于IBM-AT微机的机器人离线轨迹规划系统.系统的软件主要包括;机器人和环境物的三维图形的交互式产生,运动学和动力学的计算,轨迹规划.碰撞的检测和图形显示动画.系统利用通讯模块和接口电路可以从IBM-AT到机器人控制之间传递信息.使用该软件的PT-300V工业机器人离线轨迹规划的实验已初步地完成.
This paper describes a microcomputer interactive package for computer-aided off-line planning of robot mo-tion. The package includes interactive construction of 3D graphic models, kinematic and dynamic simulation, mo-tion planning, collision detection and image animation and provides a text output file of the robot program. Therobot controller can accept the text output from software system, transporting the robot program fromIBM-PC/AT to the robot control, and executing the robot program. An experiment of off-line planning of aPT-300V Robot using this package has been made preliminarily.
出处
《机器人》
EI
CSCD
北大核心
1990年第2期14-18,共5页
Robot
关键词
微机
机器人
轨迹规划系统
robot motion planning
CAD-modeling
collision dctection
off-line programming
