| 基于OpenGL的机械臂控制系统仿真平台研究 |
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| 引用本文： | 严勇杰,朱齐丹,蒋丞.基于OpenGL的机械臂控制系统仿真平台研究[J].计算机仿真,2006,23(8):252-257. |
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| 作者姓名： | 严勇杰 朱齐丹 蒋丞 |
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| 作者单位： | 哈尔滨工程大学,黑龙江,哈尔滨,150001 |
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| 摘 要： | 该文采用VisualC＋＋和OpenGL相结合的建模与运动仿真方法，根据蒸汽发生器六轴机械臂检修控制系统的要求，建立了一个功能完整的文验平台，并从功能、界面、模型实现等多方面对实验平台进行了介绍。首先通过几何方法从正解、反解两个方面对机械臂进行了动力学分析，从而实现了各轴在JOG、JOY等多种控制模式下点动、平动功能。其次将3DMax和Open-GL相结合建立系统模型；将机械臂每一个关节单独看成一个子体，再通过“堆栈”方法根据不同需要组合成一个新的整体，从而解决了运动的继承性问题。实验平台还可用来验证机械臂的控制策略，记录机械臂的轨迹并对轨迹进行优化。实验证明了仿真平台的功能已达到实际工程的需要。
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| 关 键 词： | 机械臂系统 仿真实验平台 建模 运动学分析 |
| 文章编号： | 1006-9348(2006)08-0252-06 |
| 收稿时间： | 2005-04-02 |
| 修稿时间： | 2005年4月2日 |
OpenGL Based Experimental Platform for Simulation of Robot Arm Control System |
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| YAN Yong-jie,ZHU Qi-dan,JIANG Cheng.OpenGL Based Experimental Platform for Simulation of Robot Arm Control System[J].Computer Simulation,2006,23(8):252-257. |
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| Authors: | YAN Yong-jie ZHU Qi-dan JIANG Cheng |
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| Affiliation: | Harbin Engineering University, Harbin Heilongjiang 150001, China |
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| Abstract: | A 3D experimental platform for simulation of robot arm control system(RACS) is introduced.The architecture and simulation technology of RACS are also discussed.OpenGL and Visual C++ based modelling method has been used to establish the platform after considering the function of RACS.First,working out the kinematics equations through geometric method,so we can control the robot arm in JOG or JOY modes;secondly,modeling the system through 3D Max and OpenGL.This paper regards each joint as a subsystem,than makes up the whole through stack matrix.Based on these,the platform can display the state of arm in time,validate the control strategies and optimize the moving track.Through different control modes of JOG,JOY,the platform is successfully demonstrated. |
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| Keywords: | Robot arm system Experimental simulation platform Modeling Kinematics analysis |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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