机器人捕捉抛物的临场感仿真  

Telepresence Simulation of Robots to Capture Parabolic

作　　者：张克敏[1,2] 梁锡昌[1] 

机构地区：[1]重庆大学机械传动国家重点实验室,重庆400030 [2]日本九州大学

出　　处：《机械科学与技术》2012年第9期1522-1525,1529,共5页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家留学基金委项目(2008101103)资助

摘　　要：为开发基于虚拟现实的机器人临场感仿真实验平台,对捕捉抛物的仿真成为必要。本文中提出了机器人捕捉抛物的仿真方法,以虚拟三自由度机器人捕捉虚拟小球为例进行了应用计算,包括求解正向运动学方程、逆向运动学方程,抛出虚拟小球的运动跟踪计算,捕捉点坐标的计算,最后结合初始位置以及规划的轨迹,得到了实现VS编程仿真的实时插补关节角度,并开发出了三自由度机器人临场感仿真平台中的相应程序。仿真结果表明了该方法的有效性。In order to develop an experimental platform simulation robots on-site perception based on virtual reality, simulation of robots to capture parabolic is necessary, then a new method of simulation of robots to capture parabolic is p example to in this paper, and a virtual 3-DOF （ degree of freedom） robots capturing virtual globule is taken as an apply the present method in detail, including forward kinematics equation, inverse kinematics equation, calculation of motion tracking to throw out virtual globule, computation the coordinate of capturing point. Finally, together with the initial position and trajectory planning, the real-time interpolation joint angle for compiling VS （visual studio） program is derived, and experimental test were carried out on the 3-DOF robots platform, the re- suits demonstrate the validity of the algorithm.

关 键 词：机器人 捕捉 临场感 仿真 虚拟现实 

分 类 号：TP391[自动化与计算机技术—计算机应用技术] TP242[自动化与计算机技术—计算机科学与技术]