摘要
虚拟现实技术(VRML)经常被运用于机器人仿真,针对传统的并联机器人运动学反解运算量大所引发的仿真系统效率问题,采用VRML的IndexedLineSet节点,通过负载平台的运动学参数动态更新IndexedLineSet节点,并以该节点为基础解出导杆的位姿。通过JavaScript与VRML交互编程实现了6自由度机器人的运动仿真。结果证明,优化后的系统仿真效率相比于传统的方法有很大的提升。
Virtual Reality Technology is frequently applied to robot simulation.To point against simulation efficiency caused by large amount of computation of kinematic inverse solution of traditional parallel robot,we use the kinematic parameters of load base to generate IndexLineSet node dynamically,and then,we can solve the length and orientation of guide bar based on this node.A kinematic simulation system is devised by using JavaScript and VRML interactive programming.The simulation results show that the new system is more efficient than traditional method.
出处
《图学学报》
CSCD
北大核心
2012年第6期93-97,共5页
Journal of Graphics
关键词
计算机应用
虚拟现实
并联机器人
运动仿真
交互编程
computer application
virtual reality
parallel robot
simulation
interactive programming