Robot Motion and Task Planning:Simulation and Programming of a Robot Arm

摘要

ABSTRACT A robot simulation system has been developed to assist in robot task planning and control data programming. The system allows simulation of the robot manipulator on the CRT by taking into consideration the kinematics and dynamics of the robot arm. The architecture of the robot simulation system is presented. Description of robot positional kinematics is given by the use of geometrical model and its extension to homogeneous transformation. Several simulated robot arm positions are shown to illustrate the kinematic model.