The Design And Implementation Of Industrial Robot Simulation System Based On OpenGL

The industrial robot plays an extremely important role in the modern industry, especially in manufacturing industry. The industrial robots are increasingly widely used in actual product, The simulation of robot and its working environment and production process by the computers could be a very good auxiliary effect. The purpose of the robot simulation is provide a virtual environment in no contact with the actual robot and its working environment through computer graphics technology.The Simulation of robot kinematics is an important part of robot simulation system, it display the result of robot kinematics simulation through 3D graphics, intuitive display the movement of the robot, Researchers can see the robot's movement on the computer screen, can see the results of trajectory planning. This dissertation discussed the kinematics of the industrial robot, robot trajectory planning, space collision detection and computer graphics, etc. based previous results.The main research work of this dissertation is as follow: firstly, The dissertation expatiates the developing status of industrial robot and robot simulation System, Analysis link robot coordinate system and robot forward kinematics, inverse kinematics; Secondly, The dissertation gives emphasis to the analysis of the industrial robot trajectory planning, improves with several transition points and parabola trajectory planning based on the five polynomial interpolation trajectory planning; Third, this dissertation sums up several common collision detection algorithms, brings forward a fast collision detection algorithms: this dissertation expatiates the idea of this algorithm, design theory, detailed designing process, and carried out a detailed simulation analysis. Finally, this dissertation design a robot simulation system based on OpenGL.