SVG-МОДЕЛИРОВАНИЕ УПРАВЛЯЕМЫХ СИСТЕМ ТЕЛ

Abstract

The new functionality of the SistemaTel software system (SS) has been described. An extensible markup language for three-dimensional vector graphics (X3D) for 3D modeling of controlled systems of bodies (ST) and scalar vector for 2D modeling of ST Graphics (SVG) have been used in this SS. A brief review of the SS of robots’ modeling using XML-oriented languages (URDF, SRDF, PLM) for marking the parameters of robots has been completed. The main difference between the SistemaTel and its analogues has been indicated. It depends on the fact that collisions are described as conditions for the transition from one ST structure to another one and are not intercepted in the process of graphical modeling, for example, as two-body collision events. An XsysTel language for marking ST has been proposed. It consists of the root node and nodes , . The nesting structure of the node declares the structure of the ST. The fields of the node expand its use to the description of the kinematic, static, and dynamic properties of ST. The node describes non-holding and dynamic bonds depending on the state and structure of the ST. Structural classification of the ST has been proposed. There distinguish ST with one Open Branch (STOB), ST with one Closed Branch (ST), Tree-like ST with Open Branches (TSTOB), Tree-like ST with open and closed Branches (with cycles) (TSTB) in the SistemaTel software system. Tree-like ST (TST) is a ST with the structure changing while the bodies’ moving. An example of the ST with a varying structure has been given. The transition conditions between structures can be geometric, kinematic and dynamic, for example, in the form of inequalities containing dynamic reactions in the joints of bodies. Examples of the XsysTel description of the ST in the plane (PST) have been given. An algorithm for XSLT conversion of the XsysTel description of the PST to the SVG-model of the PST has been developed.