The Study And Realization Of Simulation Platform With Visual Reality Of Robot

The title of this paper is" The Study and Design of Simulation Platform with Visual Reality of Robot" .The author' s work is a sub-task of "The Project of Hot-Line-Work Robot" undertaken by Shandong University of Science and Technology and the project is listed in "State 863 Planned Projects" .The simulation system the author has engaged in makes use of OOP technology and takes Visual C++/C++Builder as developing language on Windows, basing on SGI standard OpenGL library.Since the kinematics analysis of robot with higher DOFs is usually complex and abstract, it' s also hard to evaluate in quality and quantity sense, the design and appliance of test guided by such analysis is often limited by reality, so this platform is not kinematics analysis oriented, it simulates graphically with virtual reality technology. On one side, graphical simulation has the advantage of simpleness and directness so that situations that is hard to be described by math equations can be displayed; On the other side, virtual reality needs:1) Graphical 3D object must be loyal to real object in geometry structure;2) Geometrical relations among 3D objects must be loyal to real relations;3) Behaviors(mostly self motion and relative motion)must be loyal to real behaviors.Meeting these two prerequisites, this platform lays its focus on robot' s manipulators' kinematics control and simulation with the experiments on 6 DOFs Motoman UP6 and 7 DOFs hot-line maintenance robot.