Robot Path Planning And Simulation Based On Three-dimensional Model

With the rapid development of robot technology, robot simulation, being a powerful method in robot design and research, has been playing a more and more important role in robotic field.This thesis mainly research in robot path planning and visual simulation based on the three-dimensional model.Based on Java3D environment, a robot simulation system is developed, and three-dimensional dynamic simulation of robot is implemented.We set forth in this paper the effective method of motion simulation with Java3D for a robot and analyze emphatically the the three-dimensional reconstruction, robot path planning, and dynamic display of the motion. Also, the main functions of this system are discussed.At last we make a summary of the principal features of the simulation system and the future application of Java3D in robot simulation.In this paper, main research work is involved in the followed aspects:In the first part we analyze the insufficiency of visualization technology in existence, expatiate on how to use the Java3D techniques to realize the three-dimensional visualization, and make a deep study on the visualization's mechanism and technique of Java3D were studied.The second part is the introduction of computer stereo vision theories and techniques, and 3D reconstruction was implemented.In the third part we chose direct slicing because of the limitation in traditional STL file, and direct slice the three-dimensional model to get the robot work path.And in the fourth part, the modeling, control and simulation of robot are deeply studied in this thesis, and a 3D simulation platform of robot is realized.In one word, all the research work done here will surely do great benefits to the robot simulation technique and further application, and it has practical and...