Abstract of my B.E. thesis
ROBVR system is a general purposed virtual reality development kit which aims to help engineers to construct robot-aided assembly line and check the feasibility of the layout and simulate the manufacturing procedure in real-time. ROBVR uses virtual environment constructing tool WTK(WorldToolKit) as its software development platform and powerful graphics workstation (SGI Onyx/4 RE2) as its hardware platform.(A Windows version is on schedule.)
In this project, I am in charge of building the compiler for ROBVR. Through the compiler, we can resolve the off-line computing problem of the movement rules of the robot joints and transform the task description of robot to the joints displacement data of every frame needed in simulation.
Firstly, I will introduce the system structure of ROBVR, the function of compiler and the correlative input file(Graphics Description File, Kinematics Description File, World Layout Description File, Task Description File, Connection Description File)and output file(Simulation Data File). Then, I will discuss the way of the compiler’s achievement in detail.