Chen C, Trivedi M M, Bidlack C R
Department of Electrical and Computer Engineering, The University of Tennessee, Knoxville 37996-2100, USA.
IEEE Trans Rob Autom. 1994 Oct;10(5):684-704. doi: 10.1109/70.326572.
Most simulation and animation systems utilized in robotics are concerned with simulation of the robot and its environment without simulation of sensors. These systems have difficulty in handling robots that utilize sensory feedback in their operation. In this paper, a new design of an environment for simulation, animation, and visualization of sensor-driven robots is presented. As sensor technology advances, increasing numbers of robots are equipped with various types of sophisticated sensors. The main goal of creating the visualization environment is to aid the automatic robot programming and off-line programming capabilities of sensor-driven robots. The software system will help the users visualize the motion and reaction of the sensor-driven robot under their control program. Therefore, the efficiency of the software development is increased, the reliability of the software and the operation safety of the robot are ensured, and the cost of new software development is reduced. Conventional computer-graphics-based robot simulation and animation software packages lack of capabilities for robot sensing simulation. This paper describes a system designed to overcome this deficiency.
机器人技术中使用的大多数仿真和动画系统都专注于机器人及其环境的仿真，而不涉及传感器的仿真。这些系统在处理在操作中利用感官反馈的机器人时存在困难。本文提出了一种用于传感器驱动机器人的仿真、动画和可视化环境的新设计。随着传感器技术的进步，越来越多的机器人配备了各种类型的精密传感器。创建可视化环境的主要目标是辅助传感器驱动机器人的自动机器人编程和离线编程能力。该软件系统将帮助用户在其控制程序下可视化传感器驱动机器人的运动和反应。因此，提高了软件开发效率，确保了软件的可靠性和机器人的操作安全性，并降低了新软件开发的成本。传统的基于计算机图形学的机器人仿真和动画软件包缺乏机器人传感仿真功能。本文描述了一个旨在克服这一缺陷的系统。
