A Research On Motion Planning And OpenGL Based Simulation Of Redumdance Robots

In recent 40 years, robot as the human's big invention has speed into all kinds of occupation. Along with the improvement of the flexible and autonomous system, the redundant operation was regarded more and more important by the scholars and the manufactures. Up to now, there have been numerous studies about redundant robots. Most of them were theory researches, mainly on kinematical planning and optimization, especially in the case of obstacle avoidance. It shows that the kinematical planning play a very important role in the research field of redundant robots.In this thesis, some issues on path planning of kinematical redundant robots are studied. According to a planar 3DOF robot, kinematics characteristic including both the positive kinematics and the inverse kinematics of the robot are investigated. To obtain the inverse kinematics of the robot, a model of the artificial potential field (APF) is built. The mathematical solution is obtained. The concept of the virtual obstacle displace is introduced in the thesis. And a path planning algorithm based on the virtual obstacle displace is investigated.For the convenience of research, it is necessary to develop an emulator system for redundant robots. An OpenGL based simulator is developed in the thesis. The simulation result of the theory researches is presented with a detailed comparing analysis. And the simulation shows certify the efficiency of both the theory research and the simulator.