作　　者： (翟敬梅）; (郭培森）; (徐晓）;

机构地区： 华南理工大学机械与汽车工程学院,广州510640

出　　处： 《实验室研究与探索》 2017年第8期112-116,共5页

摘　　要： 结合当前工业机器人技术和发展,共享实验教育资源,开发了基于B/S模式的双机器人运动仿真实验平台。采用WebGL技术构建虚拟现实环境下机器人的三维模型,JavaScript语言实现机器人运动控制及事件响应等功能,HTML和CSS语言搭建了人机交互界面。仿真平台包含了运动仿真模块、障碍物生成模块、运动状态显示模块及运动控制模块。可采用快捷指令、编程和机器人插补点3种控制方式,实现单机器人运动规划、双机器人协作运动优化及机器人避障规划等多种仿真任务。平台发布于远程实验教学网站,解决了当前设备资源不足等问题,在教学应用中达到了预期效果,获得了学生的好评和认可。 Combined with present technology and development of industrial robot,the motion simulation experimental platform of dual robots based on B/S pattern is developed to share resources of experimental education. WebGL technology is used to build a 3D model of robots in virtual reality environment. JavaScript language is used to realize robot motion control,event response and so on. HTML and CSS languages are used to build man-machine interface. The platform includes motion simulation module,obstacles generation module,display module and motion control module.There are three ways of shortcuts,programming or interpolation points to control robot motion and realize many kinds of simulation tasks,such as motion planning of single robot,coordinated motion optimization of dual robot and obstacle avoidance planning of robot. The platform solves the current problems such as insufficient equipment resources,achieves the desired results in teaching application and gets good comment and recognition from students after it is published on the remote experimental platform.

关 键 词： 工业机器人 运动仿真 实验平台