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在机器人化生产系统开发工具软件 (ROBVR)的主要设计目的之一 ,就是旨在开发一个面向机器人化汽车生产线的虚拟构造、布局检验和生产流程动态仿真的软件工具平台。为了在 ROBVR系统中实现在机器人各关节运动的同时做实时的漫游 ,通过一个编译连接器 ,根据事先确定的机器人任务描述文件 ,以便生成仿真时所需要的机器人各关节在每一帧中的位移量 ,从而解决了机器人各关节运动规律的离线计算问题。由于在预处理阶段就完成了大量的计算工作 ,因此利用该方法 ,可大大加快在线仿真时的速度。文中通过一个机器人系统实例的模拟 ,说明了该方法的有效性
One of the main design goals of Robotic Production System Development Tools (ROBVR) is to develop a software tool platform for virtual building, layout verification and dynamic simulation of production processes for robotic automotive production lines. In order to realize the real-time roaming in the ROBVR system while the joints of the robot move in real time, a compilation connector is used to generate the robot task description file according to a predetermined robot in order to generate the displacement of each joint of the robot in each frame during the simulation Thus solving the problem of off-line calculation of the robot’s joint motion. As a large amount of computational work is done in the preprocessing stage, this method can greatly accelerate the speed of online simulation. The simulation of a robot system example shows the effectiveness of this method