【摘要】 本文介绍了一个基于微机的交互式机器人CAD系统(ROBOT CAD)的设计过程,主要介绍了CAD系统中运动学、动力学和轨迹规划的建模与算法,并给出了算法实现的程序框图。另外还介绍了ROBOT CAD系统的软件结构、数据结构和图形显示技术。ROBOT CAD系统用FORTRAN—77和BASIC语言编写,在IBM—PC/XT微机上实现,可用于机器人运动学、动力学和轨迹规划仿真分析并有二维图形显示功能。更多还原

【Abstract】 This paper introduces an interactive and microcomputer-based CAD system of the robot(ROBOT CAD). The modelling and algorithms of kinematics. dynamics and trajectory of the CAD system are mainly presented. The CAD system is writtem in FORTRAM-77 and BASIC, comprises about 3500 sentences and is realized on the TBM-PC/XT(AT)microcomputer. It can be used for the design and analysis of robot.更多还原