基于OpenGL空间机械臂三维重构可视化研究

Research on Visual 3D Reconstruction of Space Manipulator Based on OpenGL

机器臂存在结构复杂、真实设备成本昂贵、实验条件受限等问题。在机械臂的设计研究中,可视化仿真系统作为一种安全灵活的工具,发挥着非常重要的作用,并广泛应用于机械臂设计和开发的各阶段。利用专业建模软件3D Studio MAX建立机械臂三维模型及场景,然后转换为OpenGL可以识别的3DS模型数据格式。在Visual C++开发环境中完成3DS模型数据的读取,结合OpenGL进行机械臂三维模型的重绘。根据机械臂D-H参数完成的机械臂正逆运动学求解算法,可以嵌入基于OpenGL的空间机械臂三维仿真系统中完成机械臂的运动控制和路径规划。实验结果表明,在Windows环境下以Visual C++结合OpenGL技术进行机械臂三维重构可视化研究,便于嵌入用户控制算法,可为机械臂的运动控制和路径规划研究提供依据。

There are some problmes in the space manipulator like complex structure, expensive devices and the limitation of experimental conditions. In the design and research of manipulator, visual simulation system, as a safe and flexible tool, plays a very important role and is widely used in each stage of the design and development of the manipulator. 3D Studio MAX, a professional modeling software,is for establishment of three-dimensional model and scene of the manipulator, and then converted into 3DS data format which OpenGL can i- dentify. In Visual C＋＋ development environment,the 3DS model data is read and combined with OpenGL three-dimensional model of manipulator is redrawed. According to the forward and inverse kinematics of the manipulator algorithm completed by the manipulator D- H parameters,it can be embedded in the three-dimensional simulation system based on OpenGL space manipulator to complete the ma- nipulator motion control and path planning. The experiment shows that under the Windows using Visual C＋＋ and OpenGL for research on visualization of 3D reconstruction for manipulator,it is convenient to embed user control algorithm, which can provide the basis for re- search on manipulator motion control and path planning.