| 面向对象机器人实时仿真系统的实现 |
| |
| 引用本文： | 姜山,程君实,包志军.面向对象机器人实时仿真系统的实现[J].上海交通大学学报,1999,33(11):1386-1390. |
| |
| 作者姓名： | 姜山 程君实 包志军 |
| |
| 作者单位： | 1. 上海交通大学信息存储研究中心上海200030
2. 上海交通大学机械工程学院上海200030 |
| |
| 摘 要： | 针对目前机器人仿真系统中存在的若干问题，讨论了一种面向对象的、独立与特定机器人的实时仿真环境ＲｏｂＳｔｕｄｉｏ 的设计及实现．系统中，硬件平台是基于ＰＣ的多ＣＰＵ 的分级体系结构，软件系统中能完成不同处理任务的对象运行于Ｗｉｎｄｏｗ ｓ 之上．设计中所采用的面向对象方法满足了系统实现中所必须解决软件的重用性、可扩展性、可靠性以及可移植性等要求．由虚拟设备驱动程序保证的系统实时性使仿真过程能够更充分真实地描述待研究的实际系统．本系统成功地应用在对具有２４ 个自由度的仿人机器人的实时三维图形仿真中．
|
| 关 键 词： | 机器人仿真 面向对象 实时仿真 图形界面 |
| 文章编号： | 1006-2467(1999)11-1386-05 |
| 修稿时间： | 1999年5月20日 |
Implementation of Object-Orient Robot Real Time Simulation System |
| |
| JIANG Shan ,CHENG Jun shi ,BAO Zhi jun .Inf. Storage Research Center,Shanghai Jiaotong Univ.,Shanghai ,China, .School of Mechanical Eng.,Shanghai Jiaotong Univ.,Shanghai.Implementation of Object-Orient Robot Real Time Simulation System[J].Journal of Shanghai Jiaotong University,1999,33(11):1386-1390. |
| |
| Authors: | JIANG Shan CHENG Jun shi BAO Zhi jun Inf Storage Research Center Shanghai Jiaotong Univ Shanghai China School of Mechanical Eng Shanghai Jiaotong Univ Shanghai |
| |
| Institution: | JIANG Shan 1,CHENG Jun shi 1,BAO Zhi jun 2 1.Inf. Storage Research Center,Shanghai Jiaotong Univ.,Shanghai 200030,China, 2.School of Mechanical Eng.,Shanghai Jiaotong Univ.,Shanghai 200030 |
| |
| Abstract: | To solve several problems in the field of robot simulation,the design and implementation of RobStudio,an object oriented robot independent simulation environment was discussed.In this system,the architecture based on PC and hierarchies of multiprocessors provides the computing platform for a set of software objects which perform different tasks on Windows operating system.The object oriented paradigm provides mechanisms which allow the implementation of the system to satisfy the goals of software reusability,extensibility,reliability,and portability.By means of our virtual device drivers,the simulation makes it possible to study the real system more veritably and adequately in real time.This system is applied successfully in the graphical simulation of our 24 degree of freedom humanoid robot. |
| |
| Keywords: | robot simulation object orientation real time simulation graphical interface |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
