摘要
真实感虚拟环境的生成是虚拟现实与仿真技术中的重要环节。研究如何生成一个基于虚拟现实的机器人离线编程三维图形仿真环境。首先通过对实际机器人工作单元的分析及对机器人的精确测量 ,在机器人几何建模系统RGMS中构造机器人及其工作单元环境的 3D几何模型 ,然后以虚拟现实软件WTK为核心建立图形仿真环境的场景图并在其中进行渲染 。
Realistic virtual environment generation is an essential part in virtual reality and simulation. The way how to generate the 3D graphics simulation environment for robot off-line programming(OLP) base VR is researched. First, the 3D models for robot and its workcell environment are constructed in Robot Geometric Modeling System(RGMS) according to analysis of actual robot working cell and accurate dimensions of the robot; then, the scene graph is created and rendered based on the VR software WTK; finally, the realistic virtual simulation environment is generated via the VR display devices.
出处
《组合机床与自动化加工技术》
北大核心
2003年第3期1-3,6,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
8 63计划 (2 0 0 2AA42 2 2 4 0 )
国家自然科学基金 (696850 0 6)
关键词
真实感虚拟环境
虚拟现实
机器人离线编程
几何建模
场景图
realistic virtual environment
virtual reality
robot off-line programming
geometry modeling
scene graph
stereo dispaly
