摘要
该文采用V isua l C++和OpenGL相结合的建模与运动仿真方法,根据蒸汽发生器六轴机械臂检修控制系统的要求,建立了一个功能完整的实验平台,并从功能、界面、模型实现等多方面对实验平台进行了介绍。首先通过几何方法从正解、反解两个方面对机械臂进行了动力学分析,从而实现了各轴在JOG、JOY等多种控制模式下点动、平动功能。其次将3D M ax和Open-GL相结合建立系统模型;将机械臂每一个关节单独看成一个子体,再通过“堆栈”方法根据不同需要组合成一个新的整体,从而解决了运动的继承性问题。实验平台还可用来验证机械臂的控制策略,记录机械臂的轨迹并对轨迹进行优化。实验证明了仿真平台的功能已达到实际工程的需要。
A 3D experimental platform for simulation of robot arm control system（RACS） is introduced. The architecture and simulation technology of RACS are also discussed. OpenGL and Visual C ＋ ＋ based modelling method has been used to establish the platform after considering the function of RACS. First, working out the kinematics equations through geometric method, so we can control the robot arm in JOG or JOY modes; secondly, modeling the system through 3D Max and OpenGL. This paper regards each joint as a subsystem, than makes up the whole through stack matrix. Based on these, the platform can display the state of arm in time, validate the control strategies and optimize the moving track. Through different control modes of JOG, JOY, the platform is successfully demonstrated.
出处
《计算机仿真》
CSCD
2006年第8期252-257,共6页
Computer Simulation
关键词
机械臂系统
仿真实验平台
建模
运动学分析
Robot arm system
Experimental simulation platform
Modeling
Kinematics analysis
