一个ROSIDY通用化工业机器人图形仿真软件

本文作者试图满足一般工业机器人图形仿真但又必须是最低成本的要求,利用商品化微机图形软件作为图形支撑开发了一个 ROSIDY 通用化工业机器人图形仿真软件.尽管在某些功能方面尚不能与大型软件包媲美,但其图形功能和通用性具有很强的实用价值.ROSIDY 是机器人设计、分析研究和推广的有力工具.本文论述了ROSIDY 的主要思想、程序原理、机器人构件的建模和建库.最后以三种不同自由度的工业机器人作为实例介绍了ROSIDY 的应用.     

基于OpenGL的DELTA并联机器人实时动态仿真

该文以DELTA并联机器人三维实时动态仿真系统为背景，介绍了OpenGL图形库的功能和特点以及OpenGL与Windows图形接口的设置方法；在建立了DELTA机器人数学模型的基础上，重点分析了DELTA机器人的运动学，并给出了DELTA机器人运动学逆问题的详细数值解法；阐述了利用OpenGL和VC 6．0联合编程以实现并联机器人动态仿真的方法，并给出了详细的设计步骤和开发的软件界面；最后讨论了OpenGL在机器人仿真中的应用前景。用OpenGL图形库进行机器人仿真真实感强，因而具有较高的使用价值和良好的应用前景。     

Computer-aided robot modeling,programming and simulation

The use of interactive computer graphics for simulation and off line programming provides a powerful tool in implementing robots. This capability essentially became available with the CAD/CAM system.This paper will present the theory of robot modeling and simulation techniques. An overview of CAD/CAM system in robotic application, such as robot off-line programming, simulation and workcell layout will also be represented.     

移动机器人3D仿真软件的设计与实现

在机器人技术研究中,为了提高机器人控制算法的开发效率,提出移动机器人三维仿真软件的设计方案并加以实现。该软件采用ODE物理引擎生成动力学世界和实现碰撞检测,提高了仿真速度和精确度,同时采用OpenGL绘制三维图形,改善了图形显示效果。仿真实例证明,该软件具有一定的实用价值。     

ROBOMOSP

This paper describes the design and development of the modeling and simulation environment for the robotic manipulators named ROBOMOSP (Robotics Modeling and Simulation Platform), which addresses important limitations of existing software for this purpose, under a highly parametric interface ideal for academics and research. The ROBOMOSP software platform adds novel characteristics and functions that are not found in other commercial and noncommercial robot modeling and simulation packages available today, including solution to the multibody dynamics problem using automatic calculation of the mass properties of robot multibodies, offline programming using a standard language, an API interface to allow experimentation with new algorithms, and support for remote/distributed use of the platform via socket communications. ROBOMOSP is ideal for training robotic operators, as a research aid, and for studying the mathematical and physical foundations of robotic manipulators, thanks to its ability to permit the expression of models that closely simulate the behavior of real systems within a feature-packed user-friendly interface     

A fail-safe tele-autonomous robotic system for nuclear facilities

A fail-safe tele-autonomous robotic system is proposed for use in advanced nuclear reprocessing facilities. The design exploits the technologies developed for space telerobotics. The target system consists of a graphical user interface for an operator to execute robotic tasks, hand controllers for teleoperation, a three-dimensional graphical simulator, and robot control software to drive both the graphical simulation and dual six degree-of-freedom robots to perform tasks using autonomous, teleoperated, and shared control modes. A preliminary design for a safety monitoring system for fail-safe operations is also described.     

Development of an Intelligent Wheelchair Using Computer Graphics Animation and Simulation

A new robot simulator JC-1 is used as a control software development tool in a project in progress where an intelligent wheelchair for a blind user is being developed. The intelligent wheelchair is planned to be able to fulfill simple symbolic commands like "follow wall" or "follow object" and using the JC-1 simulator an evaluation team which includes e.g. the user, a rehabilitation engineer and a software engineer, can check control algorithms and user interface routines before constructing a real wheelchair prototype. The JC-1 simulator models the environment using simplified boundary- representation where objects, robot sensors and actuators are presented as symbolic objects in the graphics data-base of the simulator. In the JC-1 simulator a robot controller under development controls the motion of the graphical model of the robot while simulator commands or other robot controllers can be used to control the movement of disturbing obstacles. Computer graphics animation and simulation help to find fundamental design errors at an early design stage and as this paper suggests, enable the user of the final product to take part in to the designing process of the robot controller. Benefits and difficulties of using computer graphics simulation in the wheelchair development process are discussed.     

Computer graphics and computer aided design in mechanical engineering at the University of Minnesota

Engineering design in industry is changing as a result of the application of the new tools provided by the digital computer and interactive computer graphics. This shift is placing new demands on engineering curricula. The engineering graduate today must be trained in the use of the computer and computer graphics as a design tool—in much the same way that engineers in the past used the slide rule and today use the hand-held calculator.This paper summarizes the efforts to integrate computer graphics and computer aided design into the design curriculum in the Mechanical Engineering Department at the University of Minnesota. Specific software packages have been developed for use in teaching engineering graphics and mechanism synthesis and analysis. These packages are discussed in detail, including the hardware used.     

使用C++ Builder编程演示曼德布罗分形图

分形几何方法在计算机图形学和模拟仿真学的研究中具有重要的应用,而曼德布罗分形图是分形几何中的一个经典实例.阐述了如何使用C Builder编程实现曼德布罗分形图的多级放大与缩小演示,只要将其中分形迭代的算法进行改变,此方法可以对其他的分形图进行多级放大与缩小演示.     

基于反走样技术的计算机视频信息泄漏的软防护

TEMPEST技术是当今计算机信息安全的重要研究方向。该文在图形生成和处理过程中,采用反走样技术设计生成TEM-PEST图形,并提出生成TEMPEST视频图形的基本图元生成及图形平滑处理算法,编制TEMPEST图形包;利用二维离散傅里叶变换在频域内对由SOFTTEMPEST图形包生成的视频图形的防护效果进行分析和实测,为进一步应用奠定理论基础。     

计算机绘图软件技术在平面美术设计中的应用

当下平面设计已由传统的手绘全面向计算机的辅助设计转移,使设计构思得以高效转化为美轮美奂的现实图 形。本文通过对CorelDRAW 、Photoshop、Flash 三个专业设计软件进行功能分析和实操应用,分析比较各自的特点和应用方 向,并指出计算机绘图软件在平面美术设计中的必要性和发展趋势。     

基于ARM的智能机器人语音控制应用研究

智能机器人作为机器人的研究热点,为机器人的交互提供一种方便有效的接口很重要。语音交互是一种最熟悉最自然的交互方式。在我们的个人计算机上具有丰富的软硬件资源易于语音识别技术的实现,但这也会限制了机器人的应用场合。而基于ARM的嵌入式语音识别系统可以嵌入到机器人对象内部,更适合机器人的应用需求。本文详细介绍了语音识别技术的原理,嵌入式语音识别技术的实现,机器人的语音控制技术,实验结果表明采用该方法实现机器人的语音控制可以达到方便,有效的控制效果。     

Methodologies for the cost-benefit analysis of computer graphics systems

This paper assesses the state of the art in cost-benefit analyses of computer graphics systems and suggests an approach for developing improved methodology. Cost-benefit analyses are distinguished from analyses of system performance in that the latter is directed at optimizing system performance at a given level of investment, while the former is directed at justifying the investment itself.Computer graphic system design alternatives are first outlined. Then methods of analyzing the performance and costs of computer systems in general and graphic systems in particular are discussed. With this information it is shown how cost-effectiveness analyses may be performed. The next crucial step is to conduct benefit analysis, an ill-defined art. The results of benefit analysis must be combined with cost-effectiveness analysis in order to perform the desired cost-benefit analysis.An experimental methodology is suggested for better performing benefit analyses of computer graphics systems. A more rigorous formulation of the cost-benefit procedure is then outlined. No attempt is made in this report to actually perform such an analysis.     

Hierarchical trajectory planning of redundant manipulators with structured intelligence

This paper deals with trajectory generation for redundant manipulators with structured intelligence. Recently, behavior engineering for robotic systems has been discussed as a new technological discipline. The intelligence of a robot depends on the structure of hardware and software for processing information, i.e. the structure determines the potentiality of intelligence. This paper proposes a robotic system with structured intelligent based on subsumption-like architecture. Based on perceptual information, a robot with structured intelligence makes decisions and takes action from four levels in parallel. In addition, the robot generates its motion through interaction with the environment and, at the same time, gradually acquires its skill based on the generated motion. To acquire skill and motion, the robot requires internal and external evaluations at least. This paper applies a virus-evolutionary genetic algorithm to trajectory planning for redundant manipulators with structured intelligence. Furthermore, we discuss its effectiveness through computer simulation results.     

Kinematics with computer graphics

The impact which computer graphics can have on engineering education is illustrated in this paper by considering the subject area of kinematics. Details of the mathematical modeling needed to support the generation of motion curves and computer graphics simulation for kinematic analysis are given, and a comparison is made with the current popular methods of analysis. Several results of computer graphic displays are given to illustrate the wide variety of situations where computer graphics can add to the teaching and understanding of kinematics.     

Computer graphics in civil engineering at RPI

The use of interactive computer graphics in civil engineering education at RPI is discussed. Emphasis is placed on how specific software packages are used in courses to increase a student's understanding of basic problem behavior and to reduce the effort required to generate meaningful problem inputs for computer solution.     

MATLAB在三维图形构造中的应用

计算机图形学中三维图形是较难的知识点,将MATLAB工具引入计算机图形学三维图形构造中,进行辅助教学并设置试验,能简化学生学习计算机图形学的难度,激发学生的兴趣,提高教学效率。     

基于Qt的移动机器人上位机软件设计与实现

为了实现移动机器人运行过程状态数据的可视化,以面向对象的C++编程语言,设计了一款基于跨平台的Qt图形库框架的上位机监测软件。该软件对接收到的状态数据进行解码、分离并绘制移动机器人实时运行轨迹和状态信息波形曲线等功能。首先概述了自行设计搭建的移动机器人硬件平台的结构和原理以及软件的实现流程;然后简要介绍了上位机软件的开发环境,并阐述了软件的各项功能以及其设计与实现过程;最后以移动机器人路径跟踪运动控制作为实验对象,验证了所设计上位机软件的有效性。     

Application of Joint Error Mutual Compensation for Robot End-effector Pose Accuracy Improvement

A method of robot end-effector pose accuracy improvement using joint error mutual compensation is presented. The developed method allows locating special robot configurations with the highest robot end-effector pose accuracy using joint error maximum mutual compensation. The computer simulation and experimental results confirmed the theory. The method provides the basis for an industrial application of joint error mutual compensation in the conventional robotic manipulators and allows improving robotic manipulator end-effector pose accuracy up to 2 times. The practical areas and typical robotic systems, where the developed framework of joint error mutual compensation could be applied, were presented.