摘要
运用VRML语言对七自由度机器人进行了几何建模 ,把仿真图形嵌入到由JavaApplet建立的用户界面中 ,建立了机器人三维仿真系统 .建立了Java和VRML的编程接口EAI,通过Java多线程实现仿真机器人各个关节的同时运动 .仿真系统可进行机器人轨迹规划、避障模拟、运动学优化等 .
A new type of 3D simulation system for robot is developed, in which the geometric model for redundant 7-DOF robot is built by VRML, and the robot model is embedded in user interface with Java Applet. EAI of Java and VRML is implemented, and the simultaneous movements of all joints of simulated robot are realized by multithreading in Java.The simulation system can be used for robot trajectory planning, obstacle avoidance and kinematics optimization.
出处
《山东大学学报（工学版）》
CAS
2004年第6期4-8,共5页
Journal of Shandong University（Engineering Science）
基金
山东省自然科学基金 (Y2 0 0 2F13 )
教育部留学回国基金 (0 13 45)
