【摘要】 为了提高机器人示教的精度和效率,提出了一种基于QT和OpenGL的交互式三维离线编程和仿真系统。通过对3DS文件结构的分析,阐述了在OpenGL中构建机器人虚拟场景的基本方法。在机器人虚拟场景的基础上,采用集成机器人语言、拾取关键点、手动修改姿态等措施实现了方便易用的交互式离线编程系统,其配套的仿真系统可以对离线编程系统生成的机器人程序进行验证,以免出现碰撞和奇异点等非正常情况。该系统对于工业机器人或手术机器人的运动轨迹规划具有重要的实际意义。更多还原

【Abstract】 In order to improve the precision and efficiency of robot teaching system,an interactive three-dimensional programming and simulation system is introduced in this paper.After an analysis of the 3DS format file,a basic method of constructing virtual robot scene is presented in detail.Based on this scene,a user-friendly interactive off-line programming system is built,using some measures such as integrated robot language,picking up key points,modifying the posture manually.The simulation system can validate the program generated by this system to avoid collision or singularity.The system for the path planning of an industrial robot or operation robot has important practical significance.更多还原