基于Unity3D反恐排爆机器人虚拟仿真设计

Virtual Simulation Design Based on Unity3D Anti-terrorism Explosive Robot

基于虚拟现实技术开发软件对反恐排爆机器人虚拟实验系统进行功能开发,该系统应用于反恐排爆机器人教学,建立D-H机械臂坐标系,实现反恐排爆机器人结构认知、装配操作、工作空间、关节运动控制,实现人机交互,利用D-H参数法建立反恐排爆机器人运动学模型,进行了正、逆运动学求解及轨迹规划。系统有着较好的沉浸性与交互性,能够完成反恐排爆机器人的虚拟实践教学。

Based on the virtual reality technology develop software,a virtual experiment platform for anti-terrorism detonation robot is developed.The system is applied in the teaching of anti-terrorism detonation robot,it establishes the D-H robot arm coordinate system,realizes the structural cognition,assembly operation,working space,joint motion control,human-computer interaction of the robot,it also utilizes D-H parameter method to establish the kinematics model of anti-terrorism detonation robot,solve the forward and inverse kinematics and do trajectory planning.The system has good immersion and interaction and can complete the virtual practice teaching of anti-terrorism detonation robot.