摘要
本文介绍一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一体.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.
This paper describes a microcomputer-based interactive package (called IRKSS) for the kinematic simulation of industrial robots. The package includes: computer automatical-ly derive symbolic equations of a robot, geometrie modelling of a robot body and its work-ing emvironment, trajectory planning, motion graphic simulation for robot tasking and collision testing between robot and its environment. The package has been used for simulating a lot of robots, it includes: Stanford, RM501, AdeptⅡ, ZH-1 and others, it had been proved to be correct and efficient.
出处
《系统仿真学报》
CAS
CSCD
1991年第2期7-11,共5页
Journal of System Simulation
