共查询到20条相似文献,搜索用时 125 毫秒
1.
2.
3.
4.
本文介绍一个智能化的机器人仿真系统的设计与实现,包括机器人运动学及其逆问题,轨迹规划、工作空间几何描述,碰撞和干涉测试,图形生成和处理以及动画技术等内容.系统中将人工智能技术用于机器人运动学及其逆问题解的公式推导,采用图形集合运算完成图形输人并提出一种三维图形快速生成和处理的算法,能适用机器人实时图形仿真.该系统使用 Turbo-Pascal 语言在 IBM-PC 机上实现. 相似文献
5.
6.
三维图形仿真在机器人控制系统中的运用 总被引:2,自引:0,他引:2
在机器人离线控制系统的开发中,机器人三维图形仿真是重要的一环。本文通过详细的分析比较,指出了Cortona SDK建模的运用优势。介绍了VRML在机器人建模中的应用以及网络平台上的建模方法,以Puma560机器人手臂为例,实现了机器人三维图形仿真。 相似文献
7.
机器人图形仿真是机器人研究中的一个很重要的内容,它涉及机器人机构学、机器人运动学、机器人零件建模、仿真机器人三维实现和机器人运动控制等方面. 相似文献
8.
9.
机器人三维图形仿真是机器人离线控制系统开发中的重要环节.为优化机器人的位姿,双足机器人由于具有多自由度、强耦合和高度非线性等特点,其运动学仿真研究大都集中在各个关节的运动学二维曲线上,很难有三维可视化运动效果.针对这一难点,对双足机器人提出了一种树形数据结构.通过采用结构并结合机器人连杆机构的运动学原理,设计了一种机器人运动的矩阵变换方法.根据上述方法,树形Matlab平台可视化编程实现了双足机器人运动学三维仿真,并作了仿真双足机器人的行走动作和进行动作优化.为实物机器人的研制提供了可靠的技术依据. 相似文献
10.
11.
与传统工业机械臂相比,桌面型机械臂具有环境多变、人机协作等特点,为其增加视觉功能显得尤为重要。而目前实现机器视觉的应用框架有很多,如何根据机械臂工作环境及性质,搭建合适的视觉应用软硬件平台,以提高机器视觉识别的准确率和效率是本文研究的重点。本文通过采用TensorFlow深度学习框架,利用嵌入式系统的软硬件设计,结合OpenCV等图像处理软件,搭建适合桌面型机械臂的机器视觉二次开发框架,为进一步开发基于视觉的机械臂应用提供了基础。仿真测试及人机协作的案例应用表明该框架具有较好的适应性和高效性。 相似文献
12.
13.
为研究便携式自动割胶机器人在割胶过程中运动轨迹的准确性与实用性,采用实体仿真模型辅助分析的研究理念,提出了基于ADAMS软件的便携式自动割胶机器人虚拟样机的运动学仿真分析方法。针对机器人匀速切割和变速切割两种切割模式,将简化后的SolidWorks模型导入到ADAMS软件中,应用ADAMS软件分析机器人割胶刀头的位移与速度,再利用MATLAB软件得到刀头的运动轨迹,并与理论计算结果进行比较。仿真结果表明:该便携式自动割胶机器人在割胶过程中具有良好的平顺性与稳定性,且运动轨迹与理论轨迹的误差在0.5mm以内,满足割胶生产的实际需要。其研究成果对相关产品的实物研制及其虚拟仿真方案的制定、参数选取可提供有益参考。 相似文献
14.
移动越障机构是输电线路移动机器人的基础,也是目前制约线路移动机器人发展的技术障碍之一.采用SolidWorks三维建模软件和ADAMS动力学仿真分析软件在虚拟环境中建立双臂移动机器人的仿真模型.通过避障路径规划生成运动仿真数据,在ADAMS虚拟环境中实现双臂移动机器人的稳定越障.仿真结果表明:双臂移动机器人的两臂交错滑移结构设计能够满足行走要求,且避障路径规划方法可行,仿真数据可为下一步双臂移动机器人物理样机的研制提供理论参考. 相似文献
15.
16.
17.
《Advanced Robotics》2013,27(5-6):537-560
In this paper we restrict our attention to worm-like, vertical traveling wave locomotion and present detailed kinematics and dynamics of a planar multi-link snake robot. Lagrange's method is used to obtain the robot dynamics. Webots software is used for simulation and to experimentally investigate the effects of link shape on motor torques. Using the dynamics model and Webots simulation, a nine-link snake robot is designed and constructed. Physical experiments are carried out to validate the mathematical model. Webots software is also used to perform simulation and further validate theoretical results. Finally, stability of the snake robot is experimentally investigated. 相似文献
18.
This article presents a kinematics and dynamics simulation of the IBM-7565 robot using its AML programming language. The kinematics and dynamics models are formulated according to the Denavit-Hartenberg convention and a recursive Newton-Euler algorithm, respectively. The simulation is integrated in a CAD software package (CATIA) which is used in robot offline programming and collision/interference analysis. The CAD package software which runs on an IBM 3033 main frame also emulates the AML for automatic programming. The simulation models can be run on the IBM 3033 using the emulator or on the robot's dedicated Series-1 computer to where the programs are downloaded for execution and control of robot motion. 相似文献
19.
20.
In this paper a humanoid robot simulator based on the multi-robot simulation framework (MuRoSimF) is presented. Among the unique features of this simulator is the scalability in the level of physical detail in both the robot’s motion and sensing systems. It facilitates the development of control software for humanoid robots which is demonstrated for several scenarios from the RoboCup Humanoid Robot League.Different requirements exist for a humanoid robot simulator. E.g., testing of algorithms for motion control and postural stability require high fidelity of physical motion properties whereas testing of behavior control and role distribution for a robot team requires only a moderate level of detail for real-time simulation of multiple robots. To meet such very different requirements often different simulators are used which makes it necessary to model a robot multiple times and to integrate different simulations with high-level robot control software.MuRoSimF provides the capability of exchanging the simulation algorithms used for each robot transparently, thus allowing a trade-off between computational performance and fidelity of the simulation. It is therefore possible to choose different simulation algorithms which are adequate for the needs of a given simulation experiment, for example, motion simulation of humanoid robots based on kinematical, simplified dynamics or full multi-body system dynamics algorithms. In this paper also the sensor simulation capabilities of MuRoSimF are revised. The methods for motion simulation and collision detection and handling are presented in detail including an algorithm which allows the real-time simulation of the full dynamics of a 21 DOF humanoid robot. Merits and drawbacks of the different algorithms are discussed in the light of different simulation purposes. The simulator performance is measured and illustrated in various examples, including comparison with experiments of a physical humanoid robot. 相似文献