摘要
基于虚拟现实(VirtualReality,VR)技术构建出五自由度多关节机器人的三维模型,借助VisualC++和OpenGL软件混合编程,开发出人机界面友好、交互信息丰富、实时性很强的虚拟机器人和相应的操作仿真试验平台。其中,特别对VR系统中机器人坐标系的建立和运动方程的实现进行了详细介绍,通过与NGR01型真实机器人的大量对照试验,证明本文提出的思想和算法是正确、合理、可用的。
The 3-D model of 5-freedom multi-joint robot is constructed based upon Virtual Reality (VR) technology. The virtual robot and the operating experimental platform are developed by the combined program of Visual C++ and OpenGL. The man-machine interface is friendly, plentiful and real-time. The establishment of coordinate and accomplishment of kinematics are especially detailed introduced. The corresponding compared testing results of virtual robot and the fact NGR01 robot demonstrate that the proposed thoughts and calculation are nght, reasonable and useful.
出处
《制造业自动化》
北大核心
2006年第2期39-41,68,共4页
Manufacturing Automation
基金
江苏省高校自然科学研究基金项目(99KJB460006)