一种五轴联动机器人运动学建模与仿真研究  

Kinematics modeling and simulation of one kind of five-axis robot

作　　者：陈则仕 张秋菊 

机构地区：[1]江南大学机械工程学院,无锡214122

出　　处：《制造业自动化》2005年第12期36-39,共4页Manufacturing Automation

摘　　要：探讨在VC++6.0集成编程环境下,调用OpenGL实现机器人的建模与仿真。对一种五轴联动机器人首先建立几何模型,对其正逆运动学问题进行分析求解,然后建立友好人机交互界面,对机器人示教再现过程进行模拟,最终实现让机器人走空间直线路径的轨迹规划仿真。Under the integral programming environment of VC＋＋6.0, OpenGL is used to explore kinematics modeling and simulation of the robot. For one kind of five-axis robot, the geometrical model is built up firstly, and then kinematics and inverse kinematics problem is solved, after that the friendly human-machine interface is designed, also the teaching-replaying process of the robot is simulated, and finally, the simulation, which the robot is moving in a linear trajectory is realized.

关 键 词：机器人 运动仿真 轨迹规划 OPENGL 示教再现 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]