面向机器人应用的虚拟现实系统  

Virtual Reality System for Robotics Application

作　　者：李刚俊[1] 陈永[1] 

机构地区：[1]西南交通大学机械工程学院,四川成都610031

出　　处：《西南交通大学学报》2003年第1期115-118,共4页Journal of Southwest Jiaotong University

基　　金：国家自然科学基金资助项目(59975077)

摘　　要：介绍了虚拟现实系统的基本构成.基于几何模型的虚拟环境的构成方式,改善实时性的方法和处理技巧.最后研究了面向机器人应用的虚拟现实系统结构、基本原理和软件开发平台,并进行了机器人仿真.The framework of VR (Virtual Reality) system, graphicsbased virtual environment generation and realtime processing techniques are discussed in this paper. The structure and software of VR for robotics application is studied. A VR simulation system has been developed, which is an integration of space parameter models, kinematic and dynamic models, and some software, such as IRIS Performer, GL/OpenGL and 3DS Alias/wavefront. A simulated robot is presented as an example to show the performance of the developed system. 

关 键 词：虚拟现实系统 机器人 仿真系统 虚拟环境 系统结构 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP391.9[自动化与计算机技术—控制科学与工程]