Kinematics and Interactive Simulation System Modeling for Robot Manipulators

被引：0

作者：

Xiao, Xiao ^{[1
]}

Li, Yangmin ^{[1
]}

Tang, Hui ^{[1
]}

机构：

[1] Univ Macau, Dept Electromech Engn, Taipa, Macao, Peoples R China

来源：

2013 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION (ICIA) | 2013年

关键词：

Interactive simulation system; Paden-Kahan subproblems; OpenGL; VRML;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, three convenient, efficient and accurate virtual scene modeling methods are proposed for robot manipulators. 3D modeling softwares in terms of SolidWorks and UG are exploited to construct the 3D models of the virtual scene. The 3D models are established and the data are used and shared by OpenGL and VRML. The virtual scene is displayed on Visual C++, LabVIEW and MATLAB platform, which can be controlled as requested. The forward and inverse kinematics of a robot manipulator named Katana450 are analyzed by using the exponential product method, then the interactive simulation system is established based on the three mentioned platforms, finally the simulation and experimental results are provided base on MATLAB/Simulink. The methods are expected to be widely used in virtual scene modeling of robot manipulators and extended to other complex mechanical systems as well.

引用

页码：1177 / 1182

页数：6

共 16 条

[1] Afdideh F., 2012, 2012 20th Iranian Conference on Electrical Engineering (ICEE 2012), P1579, DOI 10.1109/IranianCEE.2012.6292612
[2] Ball R.S., 1900, THEORY SCREWS
[3] Haptic-based interactive path planning for a virtual robot arm
Chen, C. J.
Ong, S. K.
Nee, A. Y. C.
Zhou, Y. Q.
[J]. INTERNATIONAL JOURNAL OF INTERACTIVE DESIGN AND MANUFACTURING - IJIDEM, 2010, 4 (02): : 113 - 123
[4] Daud Omar A., 2010, Proceedings of the 11th IEEE International Workshop on Advanced Motion Control (AMC 2010), P685, DOI 10.1109/AMC.2010.5464048
[5] KAHAN W, 1986, LECT COMPUTATIONAL A
[6] Ling Q. H., 2005, IEEE INT C ROB BIOM, P713
[7] Muñoz LM, 2012, IEEE INT CONF ROBOT, P4288, DOI 10.1109/ICRA.2012.6224736
[8] Paden B., 1986, THESIS U CALIFORNIA
[9] Qiu Y. K., 2010, MACH ELECT, V12, P25
[10] Rodrigues M. A. F., 2009, COMPUT GRAPH-UK, V31, P688

← 1 2 →