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本文提出了基于IBM-AT微机的机器人离线轨迹规划系统.系统的软件主要包括;机器人和环境物的三维图形的交互式产生,运动学和动力学的计算,轨迹规划.碰撞的检测和图形显示动画.系统利用通讯模块和接口电路可以从IBM-AT到机器人控制之间传递信息.使用该软件的PT-300V工业机器人离线轨迹规划的实验已初步地完成.
In this paper, a robot offline trajectory planning system based on IBM-AT microcomputer is proposed.The software of the system mainly includes interactive generation of three-dimensional graphics of robots and environmental objects, calculation of kinematics and dynamics, trajectory planning, collision detection and graphic display Animation The system uses communication modules and interface circuits to communicate information from the IBM-AT to the robotics control.Experiments of the off-line trajectory planning of the PT-300V industrial robot using the software have been initially completed.