VRML Based Simulation And Control Of Virtual Devices

In order to solve the problems of the application of Visual Reality Techniques to Industrial Remote Monitoring and Control, the thesis deeply researches the Simulation and Control of the VR devices. Then the thesis designs VRML (Virtual Reality Modeling Language) based Simulation and Control system of the VR devices and the system can fast create the three-dimensional models for devices and precisely control the motion of the models. The main content is introduced in detail as follows: Firstly, the thesis investigates VRML based Simulation and Control of the VR devices, and designs the framework of the system and analyzes every parts of the system. Secondly, the thesis researches the creation and simulation of the VR devices. Then the thesis provides a new method to create the models and to simulate the robots, which separates the models of robots' links and the relative poses between the links and controls the links' poses through the nodes of the VRML models. The thesis analyzes the difference between the definition of the VRML coordinate frame and that of the traditional coordinate frames of robot's links, and establishes the coordinate frames for the links of the robot created with VRML. Then the thesis deduces the corresponding transform matrix of robot's links and brings forward the VRML based method to implement the modeling and control of the robots. Thirdly, the thesis researches the controlling language for the VRML devices and designs the basic controlling instructions, which implement the essential functions to control the motion of the VRML devices. Fourthly, the thesis researches teaching and control of the VR devices and provides a new method for virtual teaching and playback. In that way, users can teach the VR devices with the mouse and extended three-dimensional movement node and three-dimensional rotation node: under the control of the extended nodes, the end of the device follows the mouse and thereby the device learns the working process; when the application loads the codes created during the course of teaching by showing, the device will playback the working process confined by the key points set and edited during the teaching course. VRML based Simulation and Control System integrates VRML into the Simulation and Control Techniques of the devices, and thereby makes full use of the advantages of VRML such as easily modeling function, outstanding communication capability and so on, and so it can successfully fulfill the requirements of modeling, simulating and controlling the devices. Therefore the system is very significant in the application of Visual Reality Techniques to the Monitoring and Control Field.