基于Java3D的机械臂三维虚拟场景创建及运动学仿真

Construction of robot's three-dimension virtual scene and its motion simulation based on Java 3D

针对常规方法所构建的机械臂运动仿真可视化虚拟环境并非基于网络特性的问题,研究并采用了Java3D与VRML相结合的方法。通过Loader接口导入VRML造型文件并将其添加到Java3D场景图中进行装配,借助Java语言强大的事件处理模型,结合Java3D中的Interpolator内插器对象和Alpha对象,实现了简单的人机交互操作。最后以实验室的某型号四自由度机械臂为例,成功实现了一个基于Java3D的交互式可视化机械臂运动仿真虚拟环境创建,并采用标准的D-H参数法进行了机械臂正、逆运动学分析与仿真。研究结果表明,该基于Java3D开发的机械臂三维运动仿真系统,不仅效果逼真,而且适于网络的传输,实现了既定的效果;该研究工作在机械臂仿真中具有较大的应用价值。

Aiming at the construction of visual virtual environment for robot＇s motion simulation by general methods is not web-based, the technology based on Java3D and VRML was discussed and adopted. VRML files were imported into the scene graph to be assembled through the Loader interface. Then, the method of applying the swing event model of Java and the Java3D objects such as Interpolator and Alpha was researched and adopted to realize the simple human-computer interactive operation. Finally, the four-degrees robot in our laboratory was given as an instance to illustrate the interactive visual environment based on Java3D for robot, then standard D-H method was used to analyze the forward kinematics and inverse kinematics so as to realize robot＇s motion simulation. The results indicate that the three-dimension motion sim- ulation system based on Java3D is vivid and is easy to transmit through network, can realize the expected goal. This research work has great application value in robot＇s simulation.