| 双臂移动机器人的图形化编程与仿真控制系统 |
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| 引用本文： | 徐化,曹其新,邱长伍,长孙郁男,横山和彦.双臂移动机器人的图形化编程与仿真控制系统[J].系统仿真学报,2006,18(9):2541-2545,2581. |
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| 作者姓名： | 徐化 曹其新 邱长伍 长孙郁男 横山和彦 |
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| 作者单位： | 1. 上海交通大学机器人研究所,上海,200052
2. 日本安川电机株式会社机器人技术开发部,北九州,803-8530,日本 |
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| 摘 要： | 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宽和分析规划结果，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。
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| 关 键 词： | 图形化编程 仿真控制 双臂移动机器人 虚拟现实建模语言(VRML) |
| 文章编号： | 1004-731X（2006）09-2541-05 |
| 收稿时间： | 2005-07-04 |
| 修稿时间： | 2005-07-042006-01-02 |
Graphical Programming, Simulation and Control System for Dual-Arm Mobile Robot |
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| XU Hua,CAO Qi-xin,QIU Chang-wu,Ikuo Nagamatsu,Kazuhiko Yokoyama.Graphical Programming, Simulation and Control System for Dual-Arm Mobile Robot[J].Journal of System Simulation,2006,18(9):2541-2545,2581. |
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| Authors: | XU Hua CAO Qi-xin QIU Chang-wu Ikuo Nagamatsu Kazuhiko Yokoyama |
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| Abstract: | A graphical programming, simulation and control system is described which can provide Dual-Arm robot a task planning, 3D simulation and control environment. User can program a Dual-arm robot through graphical programming, preview and check motion simulation in 3D simulation, and then download optimal program to actual robot controller to ensure the desired results. The system uses Java3D and VRML for 3D simulation, and runs on RT-Linux platform to ensure Real-Time in simulation and control. Multi-robot mechanism is realized to support pipelining work or cooperation between robots. This system now supports Dual-Arm Mobile robot of YASWAKA Electric Corporation. |
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| Keywords: | Java3D RT-Linux graphical programming simulation and control dual-arm mobile robot Java3D RT-Linux virtual reality modeling language (VRML) |
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