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介绍一种双臂移动机器人的图形化编程与仿真控制系统。用户通过图形编程界面对机器人编程和任务规划,在三维仿真环境中预览和分析规划结果,最后将优化程序下载到真实机器人中进行控制。采用Java3D和VRML实现三维仿真;基于RT-Linux平台保证仿真控制的实时性;实现了多机器人机制以支持机器人的流水线协作。该系统现在支持日本安川电机株式会社的双臂移动机器人产品。
A graphical programming and simulation control system for two-arm mobile robot is introduced. Users through the graphical programming interface for robot programming and mission planning, preview and analysis of the planning results in a three-dimensional simulation environment, and finally download the optimization program to the real robot for control. Using Java3D and VRML to achieve three-dimensional simulation; based on the RT-Linux platform to ensure real-time simulation control; to achieve a multi-robot mechanism to support the robot’s pipeline collaboration. The system now supports Yaskawa Electric Co.’s dual-arm mobile robot products.