摘要
该文针对“机器人技术”教学实验的实际需要,在分析了现今机器人仿真在教学实验上应用的现状的基础上,以MOVEMASTEREX教学用机器人为仿真对象,在用解析法建立运动学模型基础上,综合应用OpenGL和VC++等软件开发工具开发了一套运动学仿真软件,满足了教学实验的实际需要。文中较为详细地给出了简洁的解析法求解运动学模型和仿真软件框架图,最后给出仿真结果。实践证明,此方法简单易行。
In order to meet the need of teaching in the course of robotics, we analyzed the status of robot simulation and set up a model of the MOVEMASTEREX robot by using analysis technique. With the tools of OpenGL and VC ＋＋, we developed a kind of simulation software that can simulate the kinematics of MOVEMASTEREX rohot. The paper introduces the analytical modeling of the robot and the structure of simulation software in detail,and the result of the simulation is also given. We have proved that this method is simple and available.
出处
《计算机仿真》
CSCD
2006年第2期256-259,共4页
Computer Simulation
基金
国家教育部博士点基金项目资助(2000000716)
关键词
教学用机器人
解析法
运动学建模
运动学仿真
Educational robot
Analysis technique
Kinematics modeling
Kinematics simulation
