基于OpenGL的关节型机器人实时控制与仿真系统的研究

Real-time control and simulation system based on the OpenGL joint robot

以在Visual C++环境下利用OpenGL开发的机械手实时控制三维可视化仿真平台为实例,详细介绍了建立机械手三维模型的数学模型和实现的算法,该平台的软件设计使用了模拟人手的人机交互界面,而且在软件功能上实现了其他类似平台所没有的实时抓取物体的功能,具有较好的可扩展性和交互性.

We consider the instance of the 3-dimensional visual simulation platform controlled by the realtime hand model, which is developed by visual C ＋ ＋ and OPOnGL. To construct the 3-dimersional model of hands, the mathematical method and the corresponding algorithm are introduced in datail. The software design of this platform makes use of the interface simulating real human hands. As well , the function of real-time scraching has been implemented, compared to other similar systems. This platform is some extensible and friendly.