机器人捕捉抛物的临场感仿真

张克敏; 梁锡昌

机器人捕捉抛物的临场感仿真

张克敏^1,2,
梁锡昌¹

1.
重庆大学机械传动国家重点实验室, 重庆 400030;
2.
日本九州大学, 福冈 819-0395

基金项目:

国家留学基金委项目(2008101103)资助

详细信息

作者简介:
张克敏(1977-)，博士研究生，研究方向为基于虚拟现实的机器人仿真和计算机辅助设计与制造，kemin1979@163.com;梁锡昌(联系人)，教授，博士生导师，lxc@cqu.edu.cn

张克敏(1977-)，博士研究生，研究方向为基于虚拟现实的机器人仿真和计算机辅助设计与制造，kemin1979@163.com;梁锡昌(联系人)，教授，博士生导师，lxc@cqu.edu.cn

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- 被引次数: 0
出版历程
- 收稿日期: 2011-08-28
- 刊出日期: 2015-06-10

Telepresence Simulation of Robots to Capture Parabolic

Zhang Ke-min^1,2,
Liang Xi-chang¹

1.
The State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400030;
2.
Kyushu University, Fukuoka 819-0395

摘要

摘要: 为开发基于虚拟现实的机器人临场感仿真实验平台,对捕捉抛物的仿真成为必要。本文中提出了机器人捕捉抛物的仿真方法,以虚拟三自由度机器人捕捉虚拟小球为例进行了应用计算,包括求解正向运动学方程、逆向运动学方程,抛出虚拟小球的运动跟踪计算,捕捉点坐标的计算,最后结合初始位置以及规划的轨迹,得到了实现VS编程仿真的实时插补关节角度,并开发出了三自由度机器人临场感仿真平台中的相应程序。仿真结果表明了该方法的有效性。
- 机器人 /
- 捕捉 /
- 临场感 /
- 仿真 /
- 虚拟现实
Abstract: In order to develop an experimental platform simulation robots on-site perception based on virtual reality, simulation of robots to capture parabolic is necessary, then a new method of simulation of robots to capture parabolic is p example to in this paper, and a virtual 3-DOF ( degree of freedom) robots capturing virtual globule is taken as an apply the present method in detail, including forward kinematics equation, inverse kinematics equation, calculation of motion tracking to throw out virtual globule, computation the coordinate of capturing point. Finally, together with the initial position and trajectory planning, the real-time interpolation joint angle for compiling VS (visual studio) program is derived, and experimental test were carried out on the 3-DOF robots platform, the re-suits demonstrate the validity of the algorithm.
- robots /
- capture /
- telepresence /
- simulation /
- virtual reality

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参考文献(15)

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