摘要
通过对机器人的几何建模和运动学建模进行了研究,论述了使用VC6.0语言作为开发平台,以OpenGL三维显示技术完成三维可视化,以VRML作为外部机器人模型表示,实现运行时可交互的机器人三维实时图形仿真系统的开发技术与方法。系统通过网络与机器人控制器进行通信,实时接收机器人控制器发来的状态数据,将它们动态地以三维模拟方式显示,用户能够动态地监视机器人的运动状态,在必要时对机器人的动作进行控制,为其它机器人的研究提供通用的仿真与模拟平台。
Robot geometry modeling, kinematics modeling and robot noumenon are analyzed, and the technique and method implementing executable interactive robot 3D simulation based on the windows platform are described, using OpenGL for 3D visualization in combination with VRML for external robot representation detailed. This system has the capacity of simulating the motion of an industrial robot in real-time. Connected with the robot controller via network, the system can receive the status data of the robot and display them in 3D-simulation mode. Users can monitor dynamically the behavior of the robot, and can control directly the acting of the robot if necessary. The system can simulate different robot type for robotic research offer to universal simulation and monitoring flat.
出处
《计算机工程与设计》
CSCD
北大核心
2005年第1期75-78,共4页
Computer Engineering and Design
基金
上海市科委基金项目(015115042)。
