Research On Motion Simulation Of Robot Based On Java3D Virtual Reality Technology

Manipulator is the most important implementing mechanism of robot, so there is an important signification for its research. Simulation technology can assist to set parameters, to test and to do many other jobs, then heighten efficiency and save cost. These years virtual reality is developed and more and more adopted in simulation area because it can realize3D modeling and real-time interaction. Author choose Java3D to realize the construction of three-dimension virtual scene of robot and study it’s motion simulation after comparing several graphics tools.The four-degrees robot in our laboratory is the research target of this paper and given as an instance to develop the motion simulation system of robot based on Java3D. The results indicate that the three-dimension motion simulation system based on Java3D is vivid and easy to transmit through network and can realize the expected goal. This research work in robot’s simulation has great application value.Main contents of this paper are:(1) Kinematic theory is firstly introduced. Standard D-H method is used to analysis and establish forward kinematics and inverse kinematics of robotic manipulator. Two methods of trajectory planning based on joint space, which are cubic polynomial interpolation algorithm and quintic polynomial interpolation algorithm, were also analyzed. These jobs prepare theory basis for the virtual motion simulation of robot.(2) The construction of three-dimension virtual scene is an important step in robot’s motion simulation. To realize the web-based robot’s motion simulation, the technology based on Java3D and VRML is discussed and adopted. VRML files of robot’s joints are imported into the scene graph to be assembled through the loader interface to realize the construction of three-dimension virtual scene for robot’s simulation.(3) According to the Modeling-View-Control system structure, the technology of Java and Java3D is adopted to design the three-dimension simulation system in eclipse IDE and it realizes the function modules of muti-view, kinematics, trajectory planning and collision detection and son on. By using graphic user interface to interact between simulation system and outside world so as to simulate the robot’s motion in reality vividly.(4) With TCP network communication protocol, the data communicating on internet is realized and the robot’s3D simulation system with network transmission function is built eventually, which has a fine expansibility and duplication.