Study On Space Continuous Trajectory Simulation Of Robot Based On VRML

Robotics, as a multi-subject syncretized high-tech science, is certainly difficult to research. Simulation technology can assist to set parameters, to test and to do many other jobs. Simulation can heighten efficiency and save cost. These years Virtual Reality is developed, and it can realize 3D modeling and real-time interaction. Using VRML(Virtual Reality Modeling Language) virtual environment is established to simulate. In this environment robot motion state is observed intuitionally, existing problems are found easily, also this research can provide interface for remote control.In the beginning of the thesis, kinematic theory is firstly introduced, the forward and inverse kinematics of robotic manipulator are established, and the work space is analyzed. These jobs prepare theory basis for the simulation. Then VRML's function and the interface EAI between VRML and Java is particularly presented.3D model of 6-DOF robot and working environment are established by VRML, then Java code is written to control robot motion by the interface EAI(Extemal Authoring Interface) between VRML and Java. This simulation not only realized the forward and inverse kinematics simulation, Point to Point simulation but also achieved CP (Continuing Path) simulation. The path can be line, arc and so on. By automate numerical control programming of Pro/Engineer software, the NC(Numerical Code) can be get, then editing the NC the path points are picked. Alternating interface is set up to input the necessary data for simulation and to output analysis data for result.In the end, basing Grandar's AS-R mobile robot platform, experiment is carried using backstepping method and trajectory tracking curve is analyzed.