gmop3d工業機器人的運動模擬軟體

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https://sourceforge.net/projects/gmop3d/

 

gmop3d是一款機械手臂（軸旋轉運動）或工業機器人的運動模擬軟體，他僅僅提供演算法，不依賴任何第三方軟體包，不依賴G代碼，QT, boost, 是一個純粹的C語言代碼程式。
六軸機械手臂，第一版的演算法僅僅支援三軸的機械手臂模擬演算法。
模型，第一版僅支援立方體，支援立方體的位置移動， XYZ任意方向旋轉，和任意尺寸，
模擬的精度也可以任意調整， 支援5個面的逐點座標位置和機械手協同運動模擬。
演算法僅僅使用了三角函數和逼近論提高精度，精度可以計算到0.000001mm,最多可以計算到小數點後10位。
模擬環境依賴openSCAD.因為這個軟體產生的是一個openSCAD程式，然後利用openSCAD的
自動載入和編譯， Automatic Reload and Compile功能實現運動模擬。
模擬的速度極其慢，因為openSCAD的 Automatic Reload and Compile功能是一秒鐘一次，
所以模擬的畫面是1秒鐘一個，後期肯定可以調整的。

 

 

The gMOP3D version 0.0.1 software is a Manipulator or Industrial Robots
MOtion Path 3D simulation and animation system base on gnu.
This software only do ari thmetic and calculating  the path.
It depends the OpenSCAD environment for simuation and animation of motion.

You can use it simulating X Y Z coordinate CNC with out G code.
It maybe use to axle running one straight line, as this straight path
as the CNC linear motion system.


This is the first software of me, so it may have alots of mistakes of code
or others application problem, email to me: [email protected]




Please reads OpenSCAD Manual at firstly.

There have two parts of model build.

First is build Manipulator(Industrial Robotic arm) axle rotate motion model.
This have writed in source code, you can changing datas in  gmp16.h.

Second, terminal path model.

The first version only support cube, cubic model, it support

1, translate, means cube path  model ‘s position.
2, rotate, cube can be rotate x, y, z, any orientation.
3, cube, size of a cubic model.

Builds model same like builds model in openSCAD, but because we needs
re-calculating the surface of model, every point of surface,
so you must enter the value again build the path model.


How to install?

./configure && make
sudo make install


FAQ:

Q1, If you running animation, but the openSCAD still not working, how to ?

A1: This software animation must use Automatic reload and compile.

Menu of below:
->Design->Automatic Relaod and Compile, keep this function be working.   

Thanks for svchem corp Mr.Song Furu greatly support for this project.

gmop3d工業機器人的運動模擬軟體