Study On Simulation Of Robot Based On Virtual Reality

With the leap in computer technology, virtual reality system will be developed andimproved continuously with its applications expanding. Simulation platform of robotstelepresence based on virtual reality technology is the best application, this thesis issupported by the Foundation of High Technology Research and Development Plan ofChina (863Program) and China Scholarship Council to develop robots telepresencesimulation platform based on virtual reality which can supply a prepared experimentalplatform for other types before physical prototype testing. This system can beredeveloped based on an excellent routine interface and also adjust physical parameterat random as well as instructor demonstrations.The operator will map the movement data of manpower to the virtual scene byusing three-dimensional interactive device and simulate robots operation in thisplatform, while the virtual scene and robots feedback data to the three-dimensionalinteractive devices which can give a real feeling including force, motion perception andhearing to people. As an integrated telepresence simulation platform of robots shouldinclude several indispensable parts such as virtual operating, the capture of parabolicsimulation, shaking trajectory simulation and haptic simulation which can improveimmersive and real sense. So it is necessary a novel research method to achieve thesimulation of robots telepresence.A new approach to establish virtual robots model in OpenGL environment isproposed by taking a good example of application analysis for3-DOF (degree offreedom) robots. In this process, we adopt D-H (denavit-hartenberg) method to solve theforward and inverse kinematics equations, and build a virtual three-dimensional modelof robots by linking the base coordinate system, connecting rod coordinate system, theworld coordinate system, local coordinate system through the movement mapping, andit will map translation, rotation and scale factor of the coordinate system into translation,rotation and scaling of model. It is a hard process that solves inverse kinematicsequations of robots, not only one inverse answer. Algebraic method and geometricmethod are adopted to solve the correct inverse answer to match results and simulationresearch of virtual operating is finished in this thesis.A new simulation method of robots capture parabolic is proposed in this thesis, avirtual3-DOF robots capturing virtual globule is taken as a good example to apply the method which including analysis of motion tracking of moving virtual globule, thecoordinate computation of capturing point and the capture of fixed things will be as aspecial case was analyzed and calculated. The real-time interpolation joint angle ofcompiling VS (visual studio) program is obtained considering the initial position andplanning trajectory. At the same time, research on collision detection is finished, and wemake full use of the characteristics of the robots as well as develop main collisiondetection methods of simulation platform by adopting the point-to-point distance, pointto face distance, the rotation of the joint angle range. Robots capture parabolicsimulation is finished.A new method of simulation for robots is proposed to realize sloshing trajectory ofrobots endpoint in the virtual scene by building the model of1-DOF and small dampingfree vibration. We take a good example of3-DOF robots to analyze the model in detail,build differential equation of sloshing trajectory through discretization and inversekinematics, and build discrete joint trajectory equation of VS programming simulation.It can improve simulation effect of telepresence and finish the simulation of the shakingtrack.A new method of robots haptic simulation is proposed. We take a good example of3-DOF robots to analyze the detail. The whole simulation process is discrete and wemake full use of force Jacobi to calculate force on the end of the virtual robots in theevery discrete point and build reasonable force feedback calculation model as well asobtain the recursive discrete equations between joint torque and force which can be feltby operators.Finally, structure and function of simulation platform are analyzed and the methodof key content is finished, a virtual presence simulation system of three degrees offreedom robots has been developed which are mainly composed of hardware andsoftware systems, hardware system includes computer, three-dimensional interactivedevices, keyboard and mouse, Software system is to develop the appropriate simulationsoftware in computer based simulation model, this software uses the Windows XPoperating system, Visual Studio2008application development environment, OpenGLgraphics library and Falcon database, combined with the MFC class librarydevelopment, and use Falcon to realize human-computer interaction, motioninformation and force information achieve the mutual mapping. Movement informationof virtual3-DOF robots is given and calculated by computer and falcon real-time and wemake a simulation for virtual operating, capture parabolic, shaking track visual presence. Simulation shows good results for vision telepresence, force telepresence and hearingtelepresence. It means that the arithmetic is valid and the simulation model has beensuccessfully applied in telepresence simulation platform of3-DOF robots.