论文部分内容阅读
本文讨论了机器人层次树结构几何模型，其高层为机器人树，低层为边杆树，连杆上节点为基本体。根据这一模型，机器人图形显示中隐藏线和面的消隐可在３个层次上分别依次进行：基本体─—→连杆─—→机器人。单个基本体的消隐通过确定其各面的优先级来实现，连杆的消隐通过确定组成连杆的各基本体之间的显示优先级来实现，机器人消隐只需对连杆排序。此算法降低了计算量，提高了效率，已用于机器人图形仿真上。
In this paper, the geometric model of robot hierarchical tree structure is discussed. The upper level is the robot tree, the lower level is the edge bar tree, and the upper node of the link is the basic body. According to this model, the concealment of the hidden lines and surfaces in the robot graphic display can be successively performed on three levels respectively: basic body ─- → connecting rod ─- → robot. The blanking of a single primitive is achieved by determining the priority of its faces, the link blanking is achieved by determining the display priority between the primitives that make up the link, and the robot blanking just sorts the links. This algorithm reduces the computational load and improves the efficiency, and has been used in the simulation of robotics.