VR技术在采摘机器人仿真系统中的应用研究

Research on the Application of VR Technology in the Picking Robot Simulation System

采用VR虚拟现实技术,利用Novint Falcon控制器,以采摘机器人为研究对象,建立和搭建了采摘机器人的运动学模型和仿真平台,实现了采摘机器人的虚拟操作。仿真结果表明:采摘机械手精确地执行了圆形轨迹的运动模拟,实现了逆向运动学计算与仿真,为研究采摘机器人正、逆运动学提供了一定的理论参考。

It useed VR technology, novint falcon controller and picking robot as the research object. It built the kinematics model and simulation platform of the picking robot, and achieved the virtual operation of the picking robot. The simulation results showed that the picking manipulator accurately performed the motion simulation of the circular trajectory, realizes the inverse kinematics calculation and simulation, which provides a theoretical reference for the research of the picking robot's forward and inverse kinematics.