摘要
利用OpenGL开发环境,与Visual C++相结合,建立搬运工业机器人的三维模型,开发的仿真系统具有可扩充性和可移植性,将FMS机器人的正逆运动学、正逆动力学、各种控制算法、轨迹规划封装成通用模块,并提供用户接口,供用户设计自己的模块和控制算法;增加多个输入输出模块。该结构可扩展实际的FMS机器人控制系统,从而更好地为搬运工业机器人在工作空间的工作姿态进行三维仿真,实现实时控制与实时仿真的一体化。
By using OpenGL development environment, and combined it with Visual C＋＋, the three dimensional （3-D） model of handling industrial robot was established. The simulation system was developed with scalability and portability. It was encapsulated with FMS robot＇s forward and inverse kinematics, forward and inverse dynamics, various control algorithms and trajectory planning into com- mon modules, and provided a user interface for users to design their own modules and control algorithms, as well as added multiple in- put and output modules. The actual FMS robot control system was extended by this structure, which is better for carrying out the 3-D simulation of handling industrial robot＇ s work attitude in the working space, and achieving the integration in unity of real-time control and real-time simulation.
出处
《机床与液压》
北大核心
2015年第3期95-98,共4页
Machine Tool & Hydraulics
基金
广州铁路职业技术学院项目(GTXYY1305)
