대한전자공학회논문지 (Journal of the Korean Institute of Telematics and Electronics)
- 제24권2호
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- Pages.207-214
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- 1987
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- 1016-135X(pISSN)
컴퓨터 그래픽스를 이용한 로보트 매니퓰레이터의 구현 방법
Realization of Robot Maniqulators Using Computer Graphics
- 장원 (한국과학기술원 전기 및 전자공학과) ;
- 정명진 (한국과학기술원 전기 및 전자공학과) ;
- 변증남 (한국과학기술원 전기 및 전자공학과)
- Jang, Won (Dept. of Elec. Eng., KAIST) ;
- Chung, Myung Jin (Dept. of Elec. Eng., KAIST) ;
- Bien, Zeungnam (Dept. of Elec. Eng., KAIST)
- 발행 : 1987.02.01
초록
In this paper, we developed a method of describing the structure of robot arms and a systematic way to use it as a robt-design-aid tool. To describe the structure of robot arms, a robot was regarded as a collection of various links in the form of polygonal pillars. With the aid of the homogeneous transformation, a set of commands for describing the information on how all the links in the robot are connected was defined and used in graphically realizing complex link-based structures including robot manipulators.
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