中文摘要：

机器人三维图形仿真是机器人离线控制系统开发中的重要环节。为优化机器人的位姿,双足机器人由于具有多自由度、强耦合和高度非线性等特点,其运动学仿真研究大都集中在各个关节的运动学二维曲线上,很难有三维可视化运动效果。针对这一难点,对双足机器人提出了一种树形数据结构。通过采用结构并结合机器人连杆机构的运动学原理,设计了一种机器人运动的矩阵变换方法。根据上述方法,树形Matlab平台可视化编程实现了双足机器人运动学三维仿真,并作了仿真双足机器人的行走动作和进行动作优化。为实物机器人的研制提供了可靠的技术依据。

英文摘要：

The 3D graphical simulation of robot is an important part in the off-line control system for robot. Since Biped robots have the characteristics of multiple degrees of freedom,strong coupling and highly nonlinear,the simulation studies of biped robots mainly base on 2D curves.It is difficult to have the effect of three - dimensional visualization of movement.In order to solve these problems,we present a tree - like data structure.Base on this structure and linkage kinematics principle,a matrix transform algorithm of robot loco-motion is designed.Through the Matlab platform,a 3D simulation program and optimization are given by using the previous algo - orithm,which offers the foundation for the study of biped robot.