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DOI:
Journal of Software:2010.21(zk):133-139

交互式机器人建模与仿真系统
黄立,姜晓红,熊华,潘志庚
(浙江大学 计算机学院,浙江 杭州 310007;杭州实时数码科技有限公司,浙江 杭州 310012;浙江大学 CAD&CG 国家重点实验室,浙江 杭州 310027)
Interactive Robotics Modeling and Simulation System
HUANG Li,JIANG Xiao-Hong,XIONG Hua,PAN Zhi-Geng
(College of Computer Science, Zhejiang University, Hangzhou 310007, China;Hangzhou Realtime Digital Media Co., LTD., Hangzhou 310012, China;State Key Laboratory of CAD&CG, Zhejiang University, Hangzhou 310027, China)
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Received:May 01, 2010    Revised:November 09, 2010
> 中文摘要: 研究并实现交互式机器人建模与仿真系统iRMSS(interactive robotics modeling & simulation system),为机器人仿真提供了精确实时的实验平台.iRMSS 包含两个子系统:一是3D 机器人建模子系统iRMS(interactive robotics modeling sub-system),完成机器人连杆和物理模型建模;二是基于MSRS(microsoft robotics studio)的交互式仿真子系统iRSS(interactive robotics simulation sub-system),完成实时的机器人动力学仿真并获取仿真动力学参数.iRMSS 充分发挥MSRS 集成一体化、精确度高、通用性强的优势,同时解决MSRS 在机器人建模和物理参数获取两方面存在的问题,实验结果证实了iRMSS 系统的可行性.
中文关键词: 机器人  交互式  建模  仿真  MSRS
Abstract:This paper introduces an interactive robotics modeling and simulation system called iRMSS (Interactive Robotics Modeling and Simulation System). iRMSS is composed of two sub systems. One is the 3D robotics modeling sub-system that facilitates the creation of segment-joint model and physical model for robots. The other is the interactive robotics simulation sub-system based-on Microsoft Robotics Studio that can provide dynamics parameters feedback. So that iRMSS has the advantage of rapid robotics modeling and flexible parameter feedback over the MSRS. An experimental case is showed to verify the system feasibility.
keywords: robotic  interactive  modeling  simulation  MSRS
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基金项目:Supported by the Key Science and Technology Program of Zhejiang Province of China under Grant No.2008C11105 (浙江省重大科技专项); the Innovation Fund for Technology Based Firms of China under Grant No.09C26213303965 (科技型中小企业技术创新基金) Supported by the Key Science and Technology Program of Zhejiang Province of China under Grant No.2008C11105 (浙江省重大科技专项); the Innovation Fund for Technology Based Firms of China under Grant No.09C26213303965 (科技型中小企业技术创新基金)
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黄立,姜晓红,熊华,潘志庚.交互式机器人建模与仿真系统.软件学报,2010,21(zk):133-139

HUANG Li,JIANG Xiao-Hong,XIONG Hua,PAN Zhi-Geng.Interactive Robotics Modeling and Simulation System.Journal of Software,2010,21(zk):133-139