摘要
本文介绍一个机器人系统圈形仿真工具ＦＯＲＣＡＤＳ的实现技术．它以三维实体造型和图形学算法，再现机器人等自主设备的实时运动过程。验证设备的规划算法、控制方法和运动学特性，检查运动过程中的碰撞、干涉现象。由于我们在仿真对象建模、三维图形实时显示、界面设计等关键技术方面作了全面设计，使ＦＯＲＣＡＡ具有人机交互方便、多层次界面、实时动画、通用性好、建模系统功能强等特点。ＦＯＲＣＡＤＳ在ＳＵＮ工作站上开发，目前已应用到ＰＵＭＡ机器人仿真、精密装配机器人仿真和挖掘机的仿真。
his paper presentS the implementation derails of a graphic simulation tool for the robot systems. As the result of our emphasising on modelling,geometric presentation and displaying in real time,and the interfacing with the user or other application programs,PORCADS shows the function features of:(1) Convenient graphic viewing methods;(2) Realtime animation I (3)General-purpose;(4 ) Friendly modelling System;and(5) Multilevel interfacing.FORCADS was developed on SUN workstation with more than 30000 source lines in C,and has been applied in several projects.
基金
国家863高技术计划资助
国家自然科学基金
关键词
机器人
仿真
计算机图形学
动画
robot system simulation
computer graphics
animation
