机器人操作臂离线编程仿真系统  

Off-line Programming Simulation System of Robotic Manipulators

作　　者：邱焕能 林仕高[1] 欧元贤[1] 

机构地区：[1]华南理工大学机械与汽车工程学院,广东广州510640

出　　处：《机床与液压》2015年第21期28-31,共4页Machine Tool & Hydraulics

基　　金：广州市科技计划项目资助(2013J4300012)

摘　　要：简述了离线编程仿真系统相对传统示教编程的优势,提出了基于OpenGL与QT的机器人操作臂离线编程仿真系统,建立机器人操作臂及工件的三维模型并实现了机械臂的运动学动态仿真。设计开发了离线编程仿真系统各功能模块,包括机器人语言编程模块(编程语言及其翻译器)、运动规划模块、机器人运动仿真模块、模型管理及辅助模块等。最后给出了仿真系统对机器人搬运工件的应用实例。The advantages of the off-line programming and simulation system were introduced,as compared with traditional teaching programming by demonstration. An off-line programming and simulation system of robot based on OpenGL and QT was established,in which three dimentional( 3D) models,as well as kinematics simulation of a robotic manipulator and workpieces were built and implemented. Every modules of the off-line programming and simulation system were developed and designed,including robotic programming language module( programming language and its translator),motion planning module,robotic motion simulation module and model administration and assistant module,and etc. In the end,an application case was provided of the simulation system about the transportation and handing process of the robot.

关 键 词：离线编程仿真系统 机器人操作臂 QT OPENGL 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]