基于HTML5与WebGL的机器人3D环境下的运动学仿真  

3D VR Kinematic Robot Simulation Based on HTML5 and WebGL

作　　者：Alexey Demin 代沅兴[1] 李新[1] 王宛山[1] 

机构地区：[1]东北大学机械工程与自动化学院,辽宁沈阳110819

出　　处：《东北大学学报（自然科学版）》2014年第4期564-568,共5页Journal of Northeastern University(Natural Science)

基　　金：国家科技支撑计划项目(2009BAF09B01);教育部重点科研基金资助项目(105057)

摘　　要：利用三维计算机辅助设计软件Remo3D建立机器人各连杆的三维模型,用标准COLLADA来描述机器人各连杆之间的相互连接关系,采用D-H法建立了5自由度机械手的运动方程,通过齐次矩阵的变换解决了顺逆运动学问题.利用HTML5语言和WebGL图形函数库的机器人三维仿真系统实现机器人的实时图形仿真,且无需安装程序可异地同步获取.另外,应用程序基于开放标准,可以在任何电脑或智能设备的现代浏览器上运行.A 3D geometric model of each link of the robots was built up using the 3D modeling software Remo3D. The standard COLLADA was used to describe the mutual connections between each links. A 5-DOF manipulator＇ s motion equation was established by the D-H method, and the inverse kinematics problem was solved by transforming the homogeneous transformation matrix. Real time graphic simulation of the robot was realized by the 3D robot simulation system reserved in HTML5 language and WebGL library, and obtained in synchronization from different places without installation of programs. The application adopts open standards and can be run in any modem browser on PC or any smart device.

关 键 词：网络应用程序 WEBGL HTML5 机器人仿真 COLLADA 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置]