CAJ | 학술논문

针对不同类型制孔机器人的仿真，提出了一种机器人可重配置的建模方法。该方法根据机器人的不同类型，建立虚拟的部件及运动关系树结构，对机器人的结构进行不同的配置。采用面向对象技术，在Windows操作平台上选用Visual C++6.0结合SGI公司提供的OpenGL库进行开发。针对一款携带制孔末端执行器的关节机器人，在仿真系统上进行机器人配置，结合关节机器人运动学方程及轨迹规划实现机器人模型在软件界面中的动态显示。
침대불동류형제공궤기인적방진，제출료일충궤기인가중배치적건모방법。해방법근거궤기인적불동류형，건립허의적부건급운동관계수결구，대궤기인적결구진행불동적배치。채용면향대상기술，재Windows조작평태상선용Visual C++6.0결합SGI공사제공적OpenGL고진행개발。침대일관휴대제공말단집행기적관절궤기인，재방진계통상진행궤기인배치，결합관절궤기인운동학방정급궤적규화실현궤기인모형재연건계면중적동태현시。
To solve the problem of software development in the simulation for different types of drill-ing robots, a reconifgurable modeling approach for robots is put forward in this article. This method conifgurates the structure of the robot and establishes virtual components and tree structure of movement relations according to the type of robot. The simulation system of the drilling robot for aircrafts is developed by using of object oriented tech-nology and Visual C++6.0 combined with OpenGL library provided by the SGI company based on Windows opera-tion system platform. The robot configuration through simulation system is done in this article concerning a joint robot with drilling end effector. The simulation system can accomplish dynamic display of the robot model by virtue of robots motion equations and trajectory planning.