基于OpenGL仿真的装配机器人离线编程系统  

Off-line Programming System of Assembly Robot Based on OpenGL Simulation

作　　者：张兴国[1] 臧铁生[2] 刘明[1] 

机构地区：[1]南通大学机械工程学院,江苏226007 [2]南京理工大学机械工程学院,江苏南京210094

出　　处：《系统仿真学报》2005年第10期2433-2436,共4页Journal of System Simulation

摘　　要：简述了用于环保压缩机装配线上的装配机器人。在对机器人运动学分析基础上,基于OpenGL实现了对装配机器人的仿真,便于装配机器人工作时进行轨迹规划。而且开发了环保压缩机装配机器人的离线编程系统,使用性能优良。操作界面友好,成为机器人系统实际应用的有力工具。One kind of assembly robot built for environment-friendly compressor assembly line is introduced. After analyzing the robot＇s kinematics, simulation of the assembly robot based on OpenGL technology was achieved, In this way it is advantageous to plan the path when the assembly robot works. And off-line programming system of the assembly robot for environment-friendly compressor was also developed. The manipulative performance is excellent. With a good man-machine conversation interface, it has been a powerful application of the robot system in the actual assembly task.

关 键 词：装配机器人 OPENGL 仿真系统 离线编程系统 轨迹规划 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]