基于OpenGL结合VRML的六自由度机械臂模拟仿真

发布时间：2018-06-29 02:01

本文选题：机械臂建模 + 三维模型　；参考：《合肥工业大学》2017年硕士论文

【摘要】：随着机器人得到越来越多的应用,机械臂模拟仿真也受到研究者的关注。机械臂仿真利用计算机预先对机械臂的工作环境及工作过程进行仿真可以起到很好的辅助效果。机械臂模拟仿真是通过计算机技术,提供一个人机交互作用的虚拟可视化平台。机械臂的轨迹规划是机械臂运动学中的一个重要组成部分,轨迹规划算法直接影响了机械臂运动的精确度和效率。轨迹规划为机器人动力学提供了基础,保证机械臂平稳、高效的运行。本文主要研究了六自由度机械臂的模拟仿真和轨迹规划。首先对于提供的机械臂参数建立数学模型,利用Open GL图形库构造机械臂三维模型;其次针对构建的机械臂模型进行正逆运动学方程求解,为轨迹规划提供基础;最后讨论机械臂的关节空间和笛卡尔空间的轨迹规划算法,并提出基于五次Hermite插值的机械臂最短路径规划研究。本文的主要研究内容如下:1.由于VRML(相较于STL)在数据信息表示方面具有一定优势,如细节丰富且无需重新构建拓扑信息等,故采用VRML描述Solid Works软件中构建的三维机械臂模型,在VC6.0中利用Open GL读取并显示该模型。2.针对机械臂的模型结构,建立机械臂数学模型,讨论机械臂的正、逆运动学算法,并给出正逆运动学的解。3.论述了机械臂的关节空间和笛卡尔空间的轨迹规划算法,提出了基于五次Hermite插值的机械臂最短路径规划研究,通过路径曲线函数以积分形式来表示机械臂的路径长度,针对其求解极值问题;并给出了两个实例来验证该方法的有效性。
[Abstract]:With the more and more applications of the robot, the simulation of the manipulator is also concerned. The simulation of the manipulator using the computer to simulate the working environment and the working process of the manipulator can play a very good auxiliary effect. The simulation of the manipulator is through the computer technology to provide the virtual interaction of a personal computer. The trajectory planning of the manipulator is an important part of the kinematics of the manipulator, and the trajectory planning algorithm directly affects the accuracy and efficiency of the motion of the manipulator. Trajectory planning provides a basis for robot dynamics and ensures the smooth and efficient operation of the manipulator. The six degree of freedom manipulator is mainly studied in this paper. Simulation and trajectory planning. First, a mathematical model is established for the parameters of the manipulator, and the three-dimensional model of the manipulator is constructed using the Open GL graphics library. Secondly, the kinematics equation of the established manipulator is solved to provide the basis for the trajectory planning. Finally, the joint space of the arm and the trajectory of the Cartesian space are discussed. The study of shortest path planning based on five times Hermite interpolation is proposed. The main research contents of this paper are as follows: 1. because of the advantages of VRML (compared to STL) in data information representation, such as rich details and no need to rebuild topological information, VRML describes the three-dimensional machinery built in Solid Works software. The arm model, using Open GL in VC6.0, reads and displays the model structure of the model.2. for the manipulator, establishes the mathematical model of the manipulator, discusses the forward and inverse kinematics algorithm of the manipulator, and gives the.3. of the forward and inverse kinematics, discusses the joint space of the manipulator and the trajectory planning algorithm of the Descartes space, and puts forward the five Hermite interpolation. The shortest path planning of the value manipulator is studied. Through the path curve function, the path length of the manipulator is expressed in the integral form, and the extremum problem is solved for it. Two examples are given to verify the effectiveness of the method.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

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