摘要
介绍一种采用JAVA开发、基于RTL inux平台的适合多机器人多任务的图形化编程与三维仿真环境.采用图标和连线方式快速建立具备流程图特点的控制程序.运行管理内核实现程序图结构的信息流向跟踪,对程序运行采用边解释边执行机制.机器人运动学指令由底层RTLab执行,结果返回上层;由Java3D实现的三维仿真环境可动态显示机器人的运动过程.该环境支持离线编程和在线调试.目前支持日本安川公司研制的Motom anUPJ和Sm artPal类人轮式移动服务机器人.
A graphical programming and 3D simulation environment is introduced for multi-robot and multi-mission, which is developed in JAVA language and is based on RTLinux platform. The icon-based and link-llne method is adopted to edit the flowchart-like control applications quickly. The running management kernel tracks the information of program chart and adopts a mechanism which can interpret and process the program simultaneously. The kinematics command is executed by RTLab in the bottom layer and the processing result is returned to the upper layer. The three-dimensional simulation environment implemented by JAVA 3D displays the virtual robot movement dynamically. This environment can support both offline programming and on-line debugging. Now, it can be used for Yaskawa robots Motoman UPJ and SmartPal, of which the latter one is a human like wheeled service robot.
出处
《机器人》
EI
CSCD
北大核心
2005年第5期436-440,共5页
Robot
