The Computer Simulation Of 6R Serial Robot Based On Opengl Technology

Robot is one of the most glorious inventions of human beings in 20 century. For its superexcellent performances, robot is widely used to industrial productions, and brings about a great economic benefit. It is predicted that with the development of robotic technology, robot will play a more important role in the human life. At the same time, developing more economical and more advanced robots will be the pursuit of scientists in China.The OpenGL technology in Windows environment gives us a very performance tool to reduce the cost in robot designs Kinematics of robot has basal status in robotics. It is the base of dynamic analysis, control and path planning. It is very significant to seek some simple and efective methods to simplify the robot kinematic analysis. The thesis introduces the present status of industrial robot, the principle benefits,steps and the meaning of computer simulation system in the domain of robot research. Having studied and absorbed the principle of General 6R robot and 6R robot with double joints, We established their kinematic models and emulational models with OpenGL and Visual C++. We have tested the robot kinematic properties and developed trajectory planning based on the models.The result is concluded that the established models are correct. it demonstrates further that using this method in designing process of robot hidden troubles can be digged out and solved in time. With the help of graphic simulation based on OpenGL, Robot performance can be tested without genuine robot, which shortens the developing periodsand lowens its cost.