| 教学机器人三维仿真与远程控制软件实现 |
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| 引用本文： | 沈靖,吕恬生.教学机器人三维仿真与远程控制软件实现[J].计算机仿真,2006,23(10):289-292. |
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| 作者姓名： | 沈靖 吕恬生 |
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| 作者单位： | 1. 上海交通大学,机械与动力工程学院,上海,200030
2. 上海交通大学,工程训练中心,上海,200240 |
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| 摘 要： | 针对自主研发的5自由度教学机器人，结合OpenGL三维建模技术，运用Visual C＋＋平台设计了基于C／S结构可代替传统示教盒的教学机器人三维运动仿真、离线编程和远程控制的软件。该文首先介绍了教学机器人基本结构以及底层控制系统实现方法，然后详细介绍了一般仿真系统的软件结构、利用OpenGL进行教学机器人3D建模和动画、离线编程以及运用WinSocket控件实现网络通讯和远程控制的方法，最后结合教学机器人几何特性提出了简便的求逆解的方案，并简单探讨了机器人运动路径规划插补方法。
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| 关 键 词： | 三维仿真 离线编程 远程控制 教学机器人 |
| 文章编号： | 1006-9348(2006)10-0289-04 |
| 收稿时间： | 2005-09-12 |
| 修稿时间： | 2005年9月12日 |
3D Simulation of Remote Control Software for the Edu-Robot |
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| SHEN Jing,LU Tian-sheng.3D Simulation of Remote Control Software for the Edu-Robot[J].Computer Simulation,2006,23(10):289-292. |
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| Authors: | SHEN Jing LU Tian-sheng |
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| Affiliation: | 1. School of Mechanical and Power Eng. , Shanghai Jiaotong Univ. , Shanghai 200030, China; 2. Eng. Training Center, Shanghai Jiaotong Univ. , Shanghai 200240, China |
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| Abstract: | For our 5 - DOF Education - Robot,a software which can replace the traditional instruct - panel and realize offline program and remote control through internet is developed based on C/S structure with OpenCL in Vc + + platform . At first , this paper introduces the Edu - Robot fundamental structure and sub - driver ,then in detail introduces the popular simulation software structure and the method for building 3D model&animation by OpenGL , offline programming and how to realize network communication and remote control by WinSocket control. Finally, a new simple inverse kinematics method according to the Edu - Robot geometry characteristics is brought out and the trajectory planning is briefly discussed. |
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| Keywords: | 3D simulation Offline programming Remote control Edu- robot |
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