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Robot off-line programming and simulation as a true CIME-subsystem

机译:机器人离线编程和仿真作为真正的CImE子系统

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摘要

A robot off-line programming and real-time simulation system, ROPSIM, which is based on the neutral interface concept and features simulation of the dynamics of both the controller and robot arm, has been developed. To avoid dependency on dedicated robot models, ROPSIM is based on generic models describing the robot controller, robot arm geometry, and the robot and arm kinetics. The software was developed using the C++ programming language. The key modules are discussed. The system is a true computer-integrated manufacturing and engineering subsystem which facilitates the exchange and reuse of robot model definition data and robot program definition data with systems of other origin or different functionality
机译:已经开发了一种机器人离线编程和实时仿真系统ROPSIM,该系统基于中性接口概念,并且具有对控制器和机器人手臂的动力学进行仿真的功能。为避免依赖于专用机器人模型,ROPSIM基于描述机器人控制器,机器人手臂几何形状以及机器人和手臂动力学的通用模型。该软件是使用C ++编程语言开发的。讨论了关键模块。该系统是真正的计算机集成制造和工程子系统,可促进与其他来源或功能不同的系统交换和重用机器人模型定义数据和机器人程序定义数据

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