| 基于微机的机器人离线轨迹规划系统 |
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| 引用本文： | 丁汉,李大生.基于微机的机器人离线轨迹规划系统[J].机器人,1990,12(2):14-18. |
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| 作者姓名： | 丁汉 李大生 |
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| 作者单位： | 华中理工大学机一系 武汉
(丁汉，李大生)，华中理工大学机一系 武汉(熊有伦) |
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| 摘 要： | 本文提出了基于IBM-AT微机的机器人离线轨迹规划系统.系统的软件主要包括;机器人和环境物的三维图形的交互式产生,运动学和动力学的计算,轨迹规划.碰撞的检测和图形显示动画.系统利用通讯模块和接口电路可以从IBM-AT到机器人控制之间传递信息.使用该软件的PT-300V工业机器人离线轨迹规划的实验已初步地完成.
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| 关 键 词： | 微机 机器人 轨迹规划系统 |
A SYSTEM FOR OFF--LINE TRAJECTORY PLANNING OF ROBOTS BASED ON MICROCOMPUTERS |
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| DING Han,LI Dasheng,XIONG Youlun Huazhong University of Science and Technology,Wuhan.A SYSTEM FOR OFF--LINE TRAJECTORY PLANNING OF ROBOTS BASED ON MICROCOMPUTERS[J].Robot,1990,12(2):14-18. |
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| Authors: | DING Han LI Dasheng XIONG Youlun Huazhong University of Science and Technology Wuhan |
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| Abstract: | This paper describes a microcomputer interactive package for computer-aided off-line planning of robot mo-tion. The package includes interactive construction of 3D graphic models, kinematic and dynamic simulation, mo-tion planning, collision detection and image animation and provides a text output file of the robot program. Therobot controller can accept the text output from software system, transporting the robot program fromIBM-PC/AT to the robot control, and executing the robot program. An experiment of off-line planning of aPT-300V Robot using this package has been made preliminarily. |
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| Keywords: | robot motion planning CAD-modeling collision dctection off-line programming |
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