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。
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 OpenGL 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.
出处
《计算机仿真》
CSCD
2006年第10期289-292,共4页
Computer Simulation
