机器人系统面向对象基于微机的建模和仿真

针对机器人系统，研究了面向对象基于微机的CAD建模和图形仿真的理论和方法，提出了层次模型面向对象的分解分割准则，并用四个树层次表示其层次树结构几何模型。低层为零件树，中间层次为部件树和装置，高层为机器人系统树，基本体是简接组成这一模型的最小单元。最后在微机上实现了基于这一几何模型的快速消隐和实时碰撞检测统一算法。

OBJECT-ORIENTED MODELING AND SIMULATION FOR ROBOT SYSTEM ON MICROCOMPUTER

The theory and methods of object-oriented (OO) CAD modeling and graphical simulation for robot system based on microcomputer are researched, the 00 decomposition and disposition principle of hierarchical model is proposed, and the hierarchical tree structure of geometrical model (HTSGM), which represents robot system as four different tree structures orderly; part tree at lowest level-component tree-device tree-robot system tree at highest level; is presented, primitive bodies are the smallest cells of the whole model. Finally, the algorithms of rapid hidden line/face removal and real time collision detection based on the HTSGM are implemented on the microcomputer.