| Robot is one of the greatest inventions of human beings in 20th century. Making robots serving people in a more humanizing way is the internal driving force for the development of society. Robotic technology which is a well combination of various kinds of technologies is the platform realizing the great ideality. Robotic simulation, especially visual simulation, plays an important role in robotic research and application. Therefore, it is of great importance to find a simple and effective way to implement visual simulation of robot. This thesis systematically discussed the related theory, techniques and arithmetic of 3D graphics visualization of industrial robot simulation.First of all, research has been done deeply in robotic kinematics. The software Mathematica is used to build the kinematics model of 6R industrial robot. The symbolic expression of inverse kinematics solution is also solved. All these are the arithmetic base of simulation.Secondly, this thesis discusses the related theory, techniques and application of both OpenGL and three-dimensional visualization. Some important techniques of visual simulation, including visualization mapping, data management and manipulation, Man-Machine-Interface and system implementation, are discussed. This thesis also shows how to use OpenGL in MFC and discusses some problems during the process.Lastly, based on the above theory and researched result, a visual simulation system for 6R industrial robot based on Visual C++ and OpenGL is designed and developed. The system innovatively applies MVC design pattern of Java program to C++ program, which can make better the system in terms of haleness, reuse and structure.The system implements 3D graphics visualization of robotic manipulation and simulation. It can provide faster and easier understanding of the theory behind such topics as, Concepts of three dimensional space and transformations, Robotic modeling, Forward and inverse kinematics computations, Working theory and working space of robot, Path planning. |
