The paper mainly discusses the realization of simulation modules, which include robot and environment building module, robot command module, trajectory planning module, kinematics module and collision check module.

• 摘要讨论了图形仿真系统中机器人及环境图形建模，机器人指令，轨迹规划，运动学正解逆解，碰撞检测，系统帮助等模块的实现方法。