【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．更多还原

【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.更多还原