| 基于VRML的机器人空间连续轨迹运动仿真 |
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| 引用本文： | 赵伟华,王勇,王宪伦.基于VRML的机器人空间连续轨迹运动仿真[J].山东大学学报(工学版),2007,37(2):8-11. |
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| 作者姓名： | 赵伟华 王勇 王宪伦 |
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| 作者单位： | 山东大学,机械工程学院,山东,济南,250061 |
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| 基金项目： | 山东省自然科学基金;教育部留学回国人员科研启动基金 |
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| 摘 要： | 以虚拟现实建模语言VRML(Virtual Reality Modeling Language)辅以3DMAX作为建模工具, 建立了机器人的三维模型. 利用Java与虚拟现实建模语言之间外部编程方式的交互, 实现了机器人正运动学、逆运动学及连续轨迹运动仿真. 当进行连续轨迹运动仿真时, 建立工件的三维模型, 提取工件棱边信息, 机器人可以实现沿着工件轮廓的三维运动, 模拟去除工件毛刺、进行光整加工的过程. 仿真以六自由度机器人作为仿真对象, 但具有很强的适应性.
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| 关 键 词： | 机器人 虚拟现实 连续轨迹 |
| 文章编号： | 1672-3961(2007)02-0008-04 |
| 收稿时间： | 2006-06-20 |
| 修稿时间： | 2006年6月20日 |
Space continuous path kinematic simulation of a robot based on VRML |
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| ZHAO Wei-hua,WANG Yong,WANG Xian-lun.Space continuous path kinematic simulation of a robot based on VRML[J].Journal of Shandong University of Technology,2007,37(2):8-11. |
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| Authors: | ZHAO Wei-hua WANG Yong WANG Xian-lun |
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| Affiliation: | School of Mechanical Engineering，Shandong University，Jinan 250061，China |
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| Abstract: | A 3D robotic model was established by use of VRML(Virtual Reality Modeling Language) and 3DMAX.By the external authoring interface(EAI) interaction between Java and VRML,the kinematics,inverse kinematics and the continuous path(CP) movement of the robot were simulated.As the CP movement of the robot was simulated,the 3D model of workpiece was first established to extract the edge information.The robot can realize space continuous path movement along the workpiece contour simulating the deburring and finishing process.The method based on the 6-DOF robot can be applied in robots with any degrees of freedom. |
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| Keywords: | robot virtual reality continuous path |
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