摘要
针对Java 3D中虚拟机器人的树状结构特点,提出一种由机器人运动学导出的矩阵变换方法,使机器人左、右脚均可动态地成为树状结构的"根结点".根据该方法编写的虚拟机器人驱动程序,并采用单线程机制,可以驱动虚拟机器人各关节平滑运动.最后,在仿人型机器人的图形化编程仿真平台上实现了虚拟机器人的行走动作.
A method of matrix transformation derived from robot kinematics was provided according to the characteristic of virtualrobot＇s tree structure in Java3D. And it makes both left foot and right foot of the virtual robot be the ＂root＂ node of tree structure in turn dynamically. Based on the method, a virtual robot＇s drive was developed in single thread, making the virtual robot move smoothly. At last, the walking motion was realized on a graphic programming and simulation platform that supports the humanoid robot.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2007年第8期1287-1291,共5页
Journal of Shanghai Jiaotong University
