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.
出处
《东北大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
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)
