| 计算网格在机器人三维仿真中的应用 |
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| 引用本文： | 张平,王琼芳,宋丙林.计算网格在机器人三维仿真中的应用[J].华南理工大学学报(自然科学版),2005,33(12):56-60. |
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| 作者姓名： | 张平 王琼芳 宋丙林 |
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| 作者单位： | 华南理工大学,计算机科学与工程学院,广东,广州,510640 |
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| 摘 要： | 基于计算网格技术构建了一个机器人三维图形仿真系统，并对PUMA560工业机器人进行动力学仿真．结果表明，与传统的机器人仿真技术相比，计算网格技术提高了机器人三维图形仿真系统的计算能力，有效解决了机器人三维图形仿真系统中机器人动力学、碰撞检测等实时计算占用大量计算机资源的问题，提高了机器人三维图形仿真系统的性能．
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| 关 键 词： | 机器人 三维仿真 计算网格 |
| 文章编号： | 1000-565X（2005）12-0056-05 |
| 收稿时间： | 2005-03-04 |
| 修稿时间： | 2005年3月4日 |
Application of Computing Grid to 3D Simulation of Robot |
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| Zhang Ping,Wang Qiong-fang,Song Bing-lin.Application of Computing Grid to 3D Simulation of Robot[J].Journal of South China University of Technology(Natural Science Edition),2005,33(12):56-60. |
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| Authors: | Zhang Ping Wang Qiong-fang Song Bing-lin |
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| Institution: | College of Computer Science and Engineering, South China Univ. of Tech. , Guangzhou 510640, Guangdong, China |
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| Abstract: | A 3D graphics simulation system for robot is developed based on the computing grid technology, which is then applied to the dynamic simulation of a PUMA560 industrial robot. The results show that, compared with the traditional simulation technologies, the computing ability of the proposed system is greatly improved because of the introduction of the computing grid technology, and that the problem of large occupation of computer resources resulting from the real-time computations of robotic dynamics and collision detection is effectively solved, thus improving the performance of the 3D graphics simulation system for robot. |
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| Keywords: | robot 3 D simulation computing grid |
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