基于Microsoft Robotics Studio的机器人运动仿真研究*

作者：黄 立1，叶益斌2，张 辉2 日期：2010-09-08/span> 浏览：4314 查看PDF文档

基于Microsoft Robotics Studio的机器人运动仿真研究*

黄 立1，叶益斌2，张 辉2

（1.浙江大学 计算机学院，浙江 杭州 310007； 2.浙江大学 CAD & CG国家重点实验室，浙江 杭州 310027）
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摘要：随着电子技术和信息技术的迅速发展，机器人已经从理论走向实际应用。针对计算机对机器人进行运动仿真的问题，研究和分析了微软的虚拟机器人开发平台Microsoft Robotics Studio，并在此基础上设计和实现了基于Microsoft Robotics Studio的机器人运动仿真系统。系统首先根据给定的机器人物理模型定义出相应的关节连杆结构，然后根据关节运动数据驱动机器人关节同时运动。研究结果表明，基于Microsoft Robotics Studio的机器人运动仿真系统能够很好地实现运动仿真及控制，为物理机器人的本体设计提供帮助。
关键词：虚拟机器人；运动仿真；微软机器人开发平台
中图分类号：TH164；TP391
文献标识码：A文章编号：1001-4551(2010)08-0122-05

Motion simulation based on Microsoft Robotics Studio
HUANG Li1, YE Yibin2, ZHANG Hui2
(1. College of Computer Science, Zhejiang University, Hangzhou 310007, China; 
2. Sate Key Lab of CAD & CG, Zhejiang University, Hangzhou 310027, China)
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Abstract: Robotics has moved from theory to practical application as the rapid development of electronic technology and information technology. Aiming at motion simulation through computer, Microsoft Robotics Studio was studied. And on the basis of the platform, a motion simulation system for robots was designed and developed. A jointrod structure was defined for a given robot model and all joints movement was drived using provided driven data. The results indicate that the motion simulation system based on Microsoft Robotics Studio can well implement motion simulation and control, and it provides good help for real robotics design.
Key words: virtual robotics; motion simulation; Microsoft Robotics Studio