基于JOGL的关节机器人仿真

Simulation of Joint Robot Based on JOGL

JOGL是Java对OpenGLAPI绑定的开源项目,并设计为采用Java开发的应用程序提供3D图形硬件支持。利用JOGL提供的物体建模、平移、旋转等功能,提出灵活的机器人交互设计方案,实现了机器人系统的快速仿真。通过Applet实现了基于Browser/Server模式的系统开发,用户可以通过网络远程控制机器人的运动行为,克服了对机器人控制的空间限制,机器人运动模型可以严格按照数学模型构造,仿真具有较高的精确度。

JOGL is an open source project of the Java Binding for the OpenGL, and is designed to provide hardware-supported 3D graphics to applications written in Java. This paper fully uses the functions such as object modeling, translation, rotation offered by JOGL to propose a flexible robot interaction design programme that realizes rapid simulation of the robot system. This paper realizes the Browser/Server based control system development. The users can remotely control the robots＇ motion so this control system overcomes the space constraints. The robot sports model can be constructed in strict accordance with the mathematical model and the simulation has high precision.