| An object oriented multi-robotic graphic simulation environment for programming the welding tasks |
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| 作者姓名： | 崔泽 赵杰 崔岩 蔡鹤皋 |
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| 作者单位： | 崔泽,赵杰,蔡鹤皋(Robot Research Institute, Harbin Institute of Technology, Harbin, 150001);崔岩(Qiqihar First Machine Toolworks, Qiqihar, 161005) |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | An object-orlented nudti-robotic graphic slmulatlon environment is described in this paper. Object-orlented programming is used to model the physical objects of the robotic workceU in the form of software objects or classes. The virtual objects are defined to provide the user with a user-frlendly inteoCace including realistic graphic simulation and clarify the software architecture. The programming method of associating the task object with active object effectively increases the software reusability, maintainability and modifiability. Task level programming is also demonstrated through a multi-robot welding task that allows the user to concentrate on the most important aspects of the tasks. The multi-thread programming technique is used to simulate the interaction of multiple tasks. Finally, a virtual test is carried out in the graphic simulation environment to observe design and program errors and fix them before downloadlng the software to the real workcell.
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| 关 键 词： | 焊接机器人 任务规划 三维图象 数值模拟 面向对象 程序设计 |
An object oriented multi-robotic graphic simulation environment for programming the welding tasks |
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| Abstract: | An object-oriented multi-robotic graphic simulation environment is described in this paper. Object-oriented programming is used to model the physical objects of the robotic workcell in the form of software objects or classes. The virtual objects are defined to provide the user with a user-friendly interface including realistic graphic simulation and clarify the software architecture. The programming method of associating the task object with active object effectively increases the software reusability, maintainability and modifiability. Task level programming is also demonstrated through a multi-robot welding task that allows the user to concentrate on the most important aspects of the tasks. The multi-thread programming technique is used to simulate the interaction of multiple tasks. Finally, a virtual test is carried out in the graphic simulation environment to observe design and program errors and fix them before downloading the software to the real workcell. |
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| Keywords: | object oriented programming task level programming welding task 3D graphic simulation expert system |
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