摘要
基于人机交互的虚拟机器人三维动态仿真及其计算是虚拟现实中的关键技术之一,是普适环境中的复杂任务计算重要内容。针对电力操作机器人作业环境的复杂性,以用户设计为中心,基于虚拟操作机械臂的三维模型,提出了机械臂操作的复杂任务中的运动轨迹规划及其运动仿真虚拟系统。构建了运动学方程的正解与反解两个方面对操作机械臂运动学模型,并利用Visual Studio编程工具以及Eon Studio仿真软件对以上研究结果进行仿真实验,为电力机器人机械臂运动控制提供参考依据。
The 3D dynamic simulation and calculation of virtual robot based on human-computer interaction is one of the key technologies in virtual reality,and an important content of complex task computation in ubiquitous environment.In view of the complexity of electric robot operating environment,this paper is based on the 3D model of virtual manipulator to propose a virtual system of motion trajectory planning and motion simulation in complex tasks of manipulator with the user-design centered,then constructs the kinematics model of the manipulator from two aspects of the positive solution and the reverse solution of the kinematic equation,and finally uses Visual Studio programming tools and Eon Studio simulation software to conduct simulation experiments on the above research results,providing reference for the motion control of power robot manipulator.
作者
余凌
刘飘
罗金满
王湘女
YU Ling;LIU Piao;LUO Jinman;WANG Xiangnv(Dongguan Power Supply Bureau of Guangdong Power Grid Co.,Ltd.,Dongguan Guangdong 523008,China)
出处
《湖北电力》
2023年第1期98-103,共6页
Hubei Electric Power
基金
南方电网公司重点科技项目(项目编号:SZKJXM20200490)。
关键词
虚拟仿真
三维动态
运动规划
机械臂
正解模型
反解模型
virtual simulation
three-dimensional dynamics
motion planning
positive solution model
inverse solution model
