一种基于LabWindows/CVI和OpenGL的六自由度机械手三维建模的方法  

Method for 3D nodeling of 6-DOF manipulator based on LabWindows/CVI and OpenGL

作　　者：伍文伟[1] 朱志杰[1] 伍良伟 

机构地区：[1]湖南大学电气与信息工程学院,长沙410082 [2]涟源钢铁集团热电厂,娄底417000

出　　处：《电子测量技术》2007年第8期75-77,共3页Electronic Measurement Technology

摘　　要：OpenGL图形系统是图形硬件的一种软件接口,实际上也是一种三维图形库和模型库。OpenGL的最大特点是与硬件无关,可在不同硬件平台上得到实现。本文详细介绍了在交互式C语言开发平台LabWindows/CVI,如何利用OpenGL图形系统的功能来设置LabWindows/CVI与OpenGL的图形接口、建立OpenGL光照、视图和渲染描述表及利用OpenGL基本图元建立六自由度机械手三维仿真系统的基本方法。在此仿真系统下,可直观、正确地模拟机械手的运动情况,还能方便地进行机械手运动学、动力学、轨迹规划等方面的仿真研究。OpenGL graphics system is a software interface of graphics hardware, 3D graphics and model library. OpenGL is designed as a hardware-independent interface to be implemented on many different hardware platforms. In this paper, the method of configuring graphics interface of LabWindows/CVI and OpenGL, by using the function of OpenGL graphics system to build OpenGL lighting, view, rendering context and 3D simulation system of 6-DOF manipulator, is introduced under ANSI C language integrated development environment LabWindows/CVI. It can exactly simulate the movement of manipulator under the simulation system, and can process simulation research of manipulator of kinematics, dynamics and contrail plan.

关 键 词：LabWindows/CⅥ OPENGL 机械手 三维建模 

分 类 号：TH128[机械工程—机械设计及理论]