虚实结合的多关节机器人开放式仿真系统研究

Research on Open Simulation System for Multi-joint Robot Based on Virtual and Physical Model

基于工业控制计算机、单片微处理器等硬件和OpenGL、VC++等软件,针对典型的五自由度多关节工业机器人构建出了一个虚拟现实和物理模型相结合的开放式通用仿真综合试验系统,给出了机器人三级控制系统体系结构和内部通信协议,建立了机器人运动学坐标系,推导出了相应的末端作用器位姿转换矩阵,可以完成机器人学中正向运动学、逆向运动学、路径规划以及动力学等方面的研究与设计。最后,将其成功应用于《工业机器人学》课程教学和智能型采棉机器人的研发过程中,发挥了重要的指导作用。

A virtual and physical general experimental simulation system was constructed for the typical five-freedom-degree multi-joint industrial robot, based on the hardware （industrial personal computer, single-chip micro-processor, etc） and the software （OpenGL, VC＋＋, etc）. The three-level control system structure and the inner communication protocol were proposed. The kinematic coordinate of robot was set up, and the transfer matrix of the end-effector was deduced, The open compositive simulation platform could accomplish the research and development of robot, such as kinematics, dynamics and path planning, etc, The platform was successfully applied for the course of Industrial Robotics and the design of intelligent cotton picking robot, which could play the important instructing role.