基于VR的家庭机器人建模

为了缩短研制周期和降低开发成本，引入虚拟样机模型来设计家庭机器人仿真系统．利用三维实时场景建模技术在SGI工作站上建立虚拟家庭环境和虚拟家庭机器人的实体模型，推导了差速移动机器人的运动学模型，并完成了家庭机器人在虚拟家庭环境中漫游的仿真试验．结果表明，将虚拟现实和机器人学相结合是机器人研究的一种有效手段．

Modeling of home robot based on virtual reality

For the purpose of shortening the development cycle and reducing the research cost, the computional simulation of the virtual prototype modeling is applied to design the system of virtual home robot. By means of three-dimensional real scene modeling, the virtual enviroment of family rooms and entity models of virtual domestic robot are established on Silicon graphics workstation. The kinematics model of home robot is derived for differential speed of wheels. The geometric model of each part of demestic robot is articulated as a node tree to be put into the virtual enviroment. Then the simulation is put forward, as the virtual home robot roaming in the virtual enviroment of family rooms. It can be concluded that the synergy between the fields of Virtual Reality and Robotics is an effective way of studying robot.