自动日志功能的实时控制Java3D机械手仿真  

Simulated Joint Robot Hand with Real-time Control and Automatic Log Function Based on Java3D

作　　者：张建飞[1] 裴以建[1] 李金会[1] 

机构地区：[1]云南大学信息学院,云南昆明650091

出　　处：《计算机仿真》2007年第12期152-154,共3页Computer Simulation

基　　金：云南省自然科学基金资助项目(2004F0010M);云南大学重点资助项目(2003Z009B)

摘　　要：主要介绍了一个既可以作为Java应用程序在单机运行,又可以作为Java Applet在网络环境中使用的基于Java3D的机械手仿真系统。鉴于仿真系统中,存在的因由鼠标、键盘控制而带来的操作缺乏灵活性,从而很难满足实时控制要求,以及缺少自动建立仿真操作日志的有效方法等问题。通过介绍如何利用Jinput技术接入带有操纵杆的输入设备,以及如何利用数据映射机制建立操作日志,不仅为上述问题提供了解决办法,而且将其实际运用到机械手仿真系统中。同时,还使用了碰撞检测技术实现了仿真机械手对虚拟小球的实时抓取功能。This paper introduces a simulated joint robot-hand system based on Java3D,which can be used as a Java application in an independent computer,or as a Java Applet in a network environment.Due to some issues existing in simulation system,such as it is hard to satisfy the real-time control requirement when controlled by keyboard or mouse input device,and it lacks an effective method to build operation log automatically.This paper tells how to fix these issues through introducing the Jinput technology to import input device with joystick and how to utilize data-mapping mechanism to establish operation log automatically.Using these theories,a simulated joint robot hand system is created.Meanwhile,collision-detection technique is also used to realize real-time grasping.

关 键 词：实时控制 三维仿真 日志 数据库 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]