摘要
利用OpenGL构建了五自由度机械臂的运动仿真环境,详细阐述了从模型构建、坐标系建立到运动学方程推导的过程。利用MATLAB机器人工具箱实验验证了所推导的机械臂运动学方程以及在仿真环境下机械臂模型的运动,对研究机器人在虚拟环境下的运动具有一定的借鉴意义。
It establishes the kinematic simulation environment of the robot arm with five degrees of freedom in OpenGL platform, shows the detail about the process of building the model, the establishment of the coordinate system and the derivation of the kinematic equation. Using Matlab robot toolbox, it verifies the kinematics equa- tion of the manipulator model and the movement of the manipulator model. This provides a reference for the re- search of the robot in the virtual environment.
出处
《机械设计与制造工程》
2015年第12期18-21,共4页
Machine Design and Manufacturing Engineering
基金
国家自然科学基金资助项目(31171457)
