工业机器人可视化运动仿真的研究
Research of Visual Kinematic Simulation for Industrial Robot

为实现工业机器人运动过程的可视化仿真，以OpenGL技术作为图形支撑，在VC++环境下进行编程，对机器人的运动仿真展开研究。详细研究了仿真系统中轨迹生成的步骤及其具体实现方法，并重点对轨迹规划算法进行了分析。为消除机器人运动过程中连续轨迹的连接点对运动平滑性的影响，探讨了通过Bezier曲线均匀插值实现笛卡尔空间中连续轨迹平滑过渡的轨迹规划算法，并通过仿真与实验对可视化运动仿真系统进行了验证。
In order to realize visualization of the locomotion process of industrial robot, the kinematic simulation for industrial robot is studied based on OpenGL and VC++ program language. The trajectory generation is an important part in the kinematic simulation, therefore, the procedure of trajectory generation and its specific implementation approach were studied in details in this paper. Besides, the trajectory planning algorithm was particularly studied. The Bezier curve uniform interpolation method was adopted to eliminate the impact the junction of continues path on motion smoothness. All the algorithms were numerically simulated and experiment was carried out, which verified the feasibility of the visual kinematic simulation system