TenonStudio xuzhongxing@iscas.ac.cn 2021 1 / 32
CAD (NURBS) EDA PLM Simens Dassault Systemes Ansys MSC Software Hexagon 2 / 32
(RobotStudio) 3 / 32
4.0 digital twin. 4 / 32
ABB RobotStudio Simens Tecnomatix Visual Components 5 / 32
2 7 Simens Tecnomatix 6 / 32
TenonStudio GUI, AR, VR 7 / 32
ABB RAPID Tenon TenonStudio 8 / 32
Tenon module testa const robtarget target_10=[[151.622, 98.1603, 593.998], [0.500005, 0, 0.866023, 0], [0, 1,-2,1], [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; const robtarget target_20=[[400,50,594],[0,0,1,0], [0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; const robtarget target_30=[[364,100,594], [0,0,0.923879532,0.382683433], [0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; function void main() movej(target_10, v10, z10, tool0, wobj=wobj0); movec(target_20, target_30, v10, z10, tool0, wobj=wobj0); end end 9 / 32
Klas Nilsson, Application Oriented Programming and Control of Industrial Robots, 1992 Klas Nilsson, Industrial Robot Programming, 1996 Klas Nilsson, Integrated architecture for industrial robot programming and control, Robotics and Autonomous Systems 29 (1999) 205-226 10 / 32
PUMA Screw Theory Lie Algebra 11 / 32
SE(3) SE(3) Lie Group 3 Modern Robotics Lie Group, Lie Algebra, Screw Theory Lie group Newton-Raphson ; Newton-Raphson R n PUMA 12 / 32
CAD CAD (geometric modeling kernel) ACIS Parasolid OpenCascade STEP NURBS 13 / 32
OpenCascade OpenCascade Matra 90 Areva OCC OCC CAD ISO 10303 STEP 14 / 32
STEP ISO 10303 CAD ISO 10303-11 EXPRESS ISO 10303-21 STEP ISO 10303-242 Managed model-based 3D engineering https://www.steptools.com/ https://ap238.org/ 15 / 32
Qt GUI Qml/QtQuick AR, VR Linux (Ubuntu), Windows 16 / 32
图形渲染 暂时实现了几个简单的基于物理的 shader (GLSL) 包括金 属效果 非金属效果 未来 真实渲染 machine learning training Figure: BMW & NVIDIA Omniverse - Designing, Optimizing and Operating the Factory of the Future 17 / 32
Algoryx (ABB RobotStudio SDK) Discrete variational integrator Multifrontal sparse linear solver Claude Lacoursiere, Ghosts and machines: regularized variational methods for interactive simulations of multibodies with dry frictional contacts, PhD Thesis, 2007 18 / 32
Lagrange DAE C++ 19 / 32
corner cases 20 CATIA 20 / 32
TODO 21 / 32
PLC, Digital I/O PLM 22 / 32
500 C++ 30 23 / 32
OpenCascade 24 / 32
+ + + = C++ 25 / 32
MSC ADAMS 多体动力学仿真软件的开发历史 多体系统是由刚体和关节组成的系统 根据牛顿力学建立动 力学微分代数方程组 进行数值求解 得到系统的仿真运行 轨迹 代表商业软件 MSC ADAMS 应用 Multibody Simulations of a Martian Rover Figure: MSC ADAMS 26 / 32
MSC ADAMS 1952 Jacques Denavit EE ( DH D) ME Richard S. Hartenberg (DH H) 1961 John J. Uicker Milton A. Chace( Joseph Shigley, ) Uicker Donald F. Livermore Denavit 1965 1964 Chace 1967 KAM 1967 Uicker Livermore Livermore (ALS) 1967 Pradip N. Sheth coordinate partitioning Roger A. Wehage 27 / 32
MSC ADAMS 1968 Uicker and Livermore Uicker Structural Dynamics Research Corporation (SDRC) IMP 1972 Uicker and Sheth FORTRAN IV Integrated Mechanisms Program (IMP) 1972 Sheth Chace Dynamic Response of Articulated Machinery (DRAM) 1972 Chace Nicolae Orlandea Automatic Dynamic Analysis of Mechanical Systems (ADAMS) 1973 Chace Mechanical Dynamics, Inc. (MDI) ADAMS Sheth 2009 Orlandea Deere 28 / 32
MSC ADAMS 1980 Uicker IMP 747, 757, 767 IMP 1984 Uicker SDRC IMP SDRC IMP Uicker SDRC Uicker ADAMS ADAMS MSC MSC NASA NASTRAN MSC Hexagon Edward C. Haug Dynamic Analysis and Design System (DADS) CAD Systems Incorporated (CADSI) LMS International CADSI CEO SDRC Roger A. Wehage Haug 29 / 32
solved problem 30-50 30 / 32
GibLab: git repo patch review issue tracking Slack: 31 / 32