摘要
本文阐述了机器人三维动画仿真系统Ｒ３ＤＡＳＳ的设计原理。根据形体建模中综合代数法与离散法的优点，提出了ＤＡ法，兼顾了精确造型的可能性和运动仿真的实时性。同时结合造型系统的情况，提出了一种运动学方程的建立方案，避免了繁琐的输入Ｄ－Ｈ参数的步骤及矩阵求逆运算。
The design principle of a robot three dimension animation system is elaborated in this paper.Synthesizing the Discrete Algorithm and Algebra Algorithm,the writer put forward DA algorithm to promise the possibility of exact modeling and real time animation simulating.And a kind of methods to build kinematics eqation is presented.Many steps of putting in the DH parameter is cut down and the operation to find inverse matrix is not needed.
出处
《洛阳工学院学报》
1997年第4期53-57,共5页
Journal of Luoyang Institute of Technology
关键词
三维动画
仿真
机器人
设计
图形仿真系统
Mouldings Kinematics Three dimension animation systems Simulation
