基于Qt和Ogre3D的机器人学坐标变换虚拟实验室

Virtual laboratory of coordinate transformation in robotics based on Qt and Ogre3D technologies

为满足机器人学学习过程中的实验需求,描述了一个基于Qt和Ogre3D机器人学坐标变换虚拟实验室的设计和使用。本虚拟实验室针对机器人学的坐标变换,在虚拟环境中通过实验来表明欧拉角、RPY角、转轴/角度、单位四元数和齐次变换矩阵的关系,并且使用虚拟手段阐述了DH矩阵的空间意义,通过数值计算和虚拟显示详细地解释这些概念的意义。其描述了这些虚拟实验的使用方法。为了判断此虚拟实验室的有效性,设计了一个教学实验,实验的结果表明虚拟实验可使教学过程更加合理,证明虚拟实验室在未来机器人学教学中将会扮演重要的角色。

This paper described the current work of designing a virtual laboratory of coordinate transformation in robotics,which was based on Qt and Ogre3D.It was a drive to cater the requirement of robotics learning and laboratory learning.At the stage of robotics virtual laboratory,the coordinate transformation was focused.It adopted a step and step fashion to show the relationship of Euler-angle,RPY angle,axis/angle,unit quaternion and homogeneous transformation matrix and the space meaning of DH parameter by virtual technologies.Numerical computation along with virtual display provided a detailed illustration of the concept.It detailed described the usage of virtual experiments.To judge the effectiveness of virtual experiments,it arranged a teaching experiment.The experiment result shows that virtual experiments can make the teaching process more reasonable and are bound to play an important role in robotics learning.