Research On The Simulation Of 5R Industrial Robot Based On OpenGL

With the further research and the more using of industry robot, the function of Robot Simulation System has become more and more important as the economical and reliable tool of robot design and study, The Simulation System has a significant meaning for the verification of the working theory and the working space of robots,and it has some importance of teaching and training. Via the research in this thesis, the simulation system of 5R robot based on VC++ and OpenGL is developed. Several aspects are studied in the paper.First, the relative theory of OpenGL is researched, VC++ and OpenGL are combined effectively to build the three-dimension model of industry robot in the program. Second, the kinematics knowledge and the forming and the solution of the working space of the robot are analyzed to get the position and gesture matrix and the working space of the industry robot in this simulation system, providing the arithmetic base for the realization of the dynamic simulating of this simulation system. Third, the simulation system is designed and developed by VC++ and OpenGL according to the result of above research. The main function of this simulation system is to simulate five rotating robot in three-dimension, every function of the industry robot in industrial reality can be simulated through the real-time three-dimension model including the function of teaching and realization, off-line programing etc. Through the modeling of teaching box, every parameter of the robot can be adjusted and the result of the adjusting can be shown quickly through the real-time three-dimension model; this system provides a good programing environment and can check the errors of the compiling robot program, then simulates the result of the robot program.