摘要
为开发基于虚拟现实的机器人临场感仿真实验平台,提出了一种通过单自由度小阻尼自由振动模型来实现机器人末端在虚拟场景中的晃动轨迹的仿真方法。以三自由度机器人为具体实例详细分析了该方法,得出了实现VS编程仿真的离散型关节轨迹方程,并据此开发出了三自由度机器人临场感仿真平台中的相应程序,进行了仿真实验,仿真结果表明该方法有效。
In order to develop telepresence simulation experimental platform for robots based on virtual reality,it was proposed that a new simulation method to realize sloshing trajectory of robot＇s endpoints in the virtual scene by building the model of 1-DOF and small damping free vibration.Taking 3-DOF robot for good example the model was analysed in detail.Finally,discrete equations for joint trajectory of the robot were obtained to realize VS programming simulation,and the compiled program of telepresence simulation platform for 3-DOF robot was developed to carry a simulation experiment.The simulation results show that this algorithm is valid.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2011年第4期408-411,共4页
China Mechanical Engineering
基金
国家留学基金委资助项目(2008101103)
关键词
虚拟现实
机器人
晃动轨迹
仿真
virtual reality
robot
sloshing trajectory
simulation
