| 一种五轴联动机器人运动学建模与仿真研究 |
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| 引用本文： | 陈则仕,张秋菊. 一种五轴联动机器人运动学建模与仿真研究[J]. 制造业自动化, 2005, 27(12): 36-39 |
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| 作者姓名： | 陈则仕 张秋菊 |
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| 作者单位： | 江南大学,机械工程学院,无锡,214122 |
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| 摘 要： | 探讨在VC＋＋6．0集成编程环境下，调用OpenGL实现机器人的建模与仿真。对一种五轴联动机器人首先建立几何模型，对其正逆运动学问题进行分析求解，然后建立友好人机交互界面，对机器人示教再现过程进行模拟，最终实现让机器人走空间直线路径的轨迹规划仿真。
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| 关 键 词： | 机器人 运动仿真 轨迹规划 OpenGL 示教再现 |
| 文章编号： | 1009-0134(2006)02-0036-04 |
| 收稿时间： | 2005-07-15 |
| 修稿时间： | 2005-07-15 |
Kinematics modeling and simulation of one kind of five-axis robot |
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| CHEN Ze-shi,ZHANG Qiu-ju. Kinematics modeling and simulation of one kind of five-axis robot[J]. Manufacturing Automation, 2005, 27(12): 36-39 |
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| Authors: | CHEN Ze-shi ZHANG Qiu-ju |
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| Affiliation: | School of Mechanical Engineering, Southern Yangtze University, Wuxi 214122 China |
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| Abstract: | Under the integral programming environment of VC++6.0,OpenGL is used to explore kinematics modeling and simulation of the robot.For one kind of five-axis robot,the geometrical model is built up firstly,and then kinematics and inverse kinematics problem is solved,after that the friendly human-machine interface is designed,also the teaching-replaying process of the robot is simulated,and finally,the simulation,which the robot is moving in a linear trajectory is realized. |
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| Keywords: | robot kinematics simulation trajectory planning OpenGL teaching-replaying |
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