简介：

简介：Anobject-orientedmulti-roboticgraphicsimulationenvironmentisdescribedinthispaper.Object-orientedprogrammingisusedtomodelthephysicalobjectsoftheroboticworkcellintheformofsoftwareobjectsorclasses.Thevirtualobjectsaredefinedtoprovidetheuserwithauser-friendlyinterfaceincludingrealisticgraphicsimulationandclarifythesoftwarearchitecture.Theprogrammingmethodofassociatingthetaskobjectwithactiveobjecteffectivelyincreasesthesoftwarereusability,maintainabilityandmodifiability.Tasklevelprogrammingisalsodemonstratedthroughamulti-robotweldingtaskthatallowstheusertoconcentrateonthemostimportantaspectsofthetasks.Themulti-threadprogrammingtechniqueisusedtosimulatetheinteractionofmultipletasks.Finally,avirtualtestiscarriedoutinthegraphicsimulationenvironmenttoobservedesignandprogramerrorsandfixthembeforedownloadingthesoftwaretotherealworkcell.