| 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. |
| 关键词: 机器人 交互式 建模 仿真 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) |
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| Interactive Robotics Modeling and Simulation System |
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HUANG Li1, JIANG Xiao-Hong1, XIONG Hua2, PAN Zhi-Geng3
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1.College of Computer Science, Zhejiang University, Hangzhou 310007, China;2.Hangzhou Realtime Digital Media Co., LTD., Hangzhou 310012, China;3.State Key Laboratory of CAD&CG, Zhejiang University, Hangzhou 310027, China
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| 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. |
| Key words: robotic interactive modeling simulation MSRS |
