충돌 회피를 위한 로봇 시뮬레이터의 개발에 관한 연구

A Study on Development of Robot Simulator for Collision Avoidance

This paper presents a robot simulator which can automatically generate a smooth collision free path. This simulator has the characterstisc of the object - oriented programming which is coded in Borland C+ +. Using General Inverse Algorithm, the inverse kinematics solutions of any kind of robots can be found generally. This simulator also uses Bezier Functions for the description of a smooth collision - free path. In addition, GUI(Graphic User Interface)technique is employed for user's convenience.