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以工业机器人仿真系统为背景,介绍了机器人的发展历程,重点描述了工业化机器人仿真开发的方法。该方法掌握较为容易,开发成本低,具有良好的可扩展性。在此基础上,文章设计并实现了基于OpenGL的工业机器人仿真系统,包括虚拟仿真环境的搭建、运动学分析和三维模型的绘制。最后,研究了OpenGL在机器人图形仿真系统中的具体应用通适代码封装使得工业机器人图形建模变得简易可行,并分析了工业机器人系统结构。探讨了该系统的运动学和逆运动学实现方法,取得了良好的效果。该仿真系统的研究方法也能够为其他场合的应用提供一定的参考价值。
Based on the industrial robot simulation system, the development history of robot is introduced, and the method of industrial robot simulation development is described emphatically. The method is easy to master, low-cost development, with good scalability. On this basis, the article designs and realizes the industrial robot simulation system based on OpenGL, including the establishment of the virtual simulation environment, the kinematics analysis and the drawing of the three-dimensional model. Finally, the application of OpenGL in robotic graphics simulation system is studied. The application of code encapsulation makes the modeling of industrial robots simple and feasible, and the structure of industrial robots is analyzed. The kinematics and inverse kinematics of the system are discussed, and good results have been achieved. The simulation system research methods can also provide some reference value for other occasions.