基于3DS MAX和OpenGL的遥操作机器人图形建模

Teleoperator-graphic modeling based on 3DS MAX and OpenGL

以MOTOMAN-SV3X机器人为原型,针对遥操作虚拟预测环境建模的需要,首先将机器人进行分解,在3DS MAX中建立各个局部几何模型,然后在Visual C++6.0环境下读取模型参数,借助OpenGL图形库建立机器人及其工作环境的几何模型,并建立机器人运动的层次关系,实现虚拟从机器人的平滑运动显示。最后,成功完成了虚拟环境中物体抓取的仿真实验。该方法将3DS MAX的强大功能与OpenGL的灵活交互相结合,满足了虚拟预测环境建模的形象和逼真的要求,缩短了开发周期,同时具有良好的人机交互功能。

This paper takes the MOTOMAN SV3X robot as a prototype. Its each part is graphically modeled in 3DS MAX. Then the graphic model data is read in VC ＋ ＋. The whole robot model and its environment are built by OpenGL. The robot kinematics is built in hierarchy to realize a smooth movement of the virtual robot. A simulative experiment is done to capture a cylinder in a virtual environment. This method can not only satisfy the requirement or modeling vividly, but also reduce the development period along with a good function of interaction.