摘要
以工业机器人在线仿真系统为研究对象,介绍了工业机器人仿真开发的技术方法。为了验证设计和算法的合理性和准确性,分别建立了基于OpenGL和Matlab的机器人在线仿真实验平台。然后根据MDH模型对其运动过程进行了仿真,从正解、反解两个方面对机械臂进行了运动学描述。最后研究了OpenGL和Matlab机器人工具箱在机器人在线仿真中应用的可行性,取得了良好的实际效果。仿真结果表明,该系统能够满足实际工程的要求。
Aiming at the industrial robot online simulation system as the research object , introduced the development of indus-trial robot simulation technique . In order to verify the rationality and accuracy of design and algorithm , first of all , this paper estab-lished robot online simulation experiment platform based on OpenGL and Matlab method . Then according to the MDH model , simu-late the motion process and describe mechanical arm from the two aspects of inverse and positive kinematics problems . Finally , stud-ied the feasibility of the application online based on OpenGL and Matlab tools in the robot simulation , obtained the good actual ef-fect . The simulation results show that system satisfies the requirements of practical engineering .
出处
《微型机与应用》
2014年第6期84-86,91,共4页
Microcomputer & Its Applications
基金
沈阳市工业科技攻关项目(F12-010-2-00)
