OpenGL在机械手三维运动仿真中的应用

该文介绍了OpenGL的功能及其实现三维动态仿真的原理与过程，并以一个多自由度机器人机械手为例，对它的结构进行了简化并建立了其运动学模型。重点讲述了用OpenGL实现三维运动仿真的基本方法及其实现，认为在仿真过程中采用“双缓冲技术”能得到平滑的动画，并分析了“双缓冲技术”的实现技术。本文对机械手的结构进行了简化，将机械手的每一个连杆看成一个子体，提出用“堆栈矩阵”法来解决运动仿真时多子体运动的继承性问题，为多自由度机械手的三维运动仿真提供了一种新的方法。

Simulation of 3D Motion of Manipulator Using OpenGL

The paper introduces the function of OpenGL and its principle and process of 3D simulation. After simplifying the manipulator and giving its kinematics, the article tells of simulation of 3D motion of the manipulator. The means for simulation and how to realize it are analyzed in detail in this paper. The authors think of using the technique of double-buffer can improve the quality of the simulation and presents the way for implementing it. The paper simplifies the structure of the manipulator and views each pole of the manipulator as a subsystem. An idea is put forwarded that using the Stack Matrix in the process of simulation can solve the problem of inhering of many subsystems, which offers a new way to the simulation of 3D motion of manipulator.