Research On Simulation Of 6 Dof Serial Robot Based On Msrs

The technology of robot simulation is representative application of virtual-realistic technology, it is a fresh subject which is studied from 1980s. The technology of robot motion simulation constitutes computer technology, robotics and computer graphics. Recurring to the robot substantiality graphic we can carry through robot motion simulation of kinematics, this can reflect the robot's entirely kinematics process visually and realistically. We can realize optimization design of robot machine or controller and make out optimization kinematics track. This thesis discuss the robot simulation system based Microsoft Robotics Studio (MSRS),we make the simulation research for AS-MRobot 6 DOF Serial robot.First, we create the robot in Solidworks, transform to the.obj document format that is received by MSRS. Building the simulation environment and creating the robot 3D model in simulation system which use the simulation engine in MSRS.Secondly, we research the simulation runtime.This service about the direct vs inverse kinematics transformation for AS-MRobot 6 DOF Serial robot, This is very important in robot simulation system. It also calculates the motion planning service.The simulation control service contain the man-machine conversation service. The orchestrator subscibe the parameters in man-machine conversation service and refers to the simulation engine service, drive the model for robot to move for simulation to come true. This also test the 3D model for robot and simulation runtime service. All arithmetic of the robot simulation system should be explant into the robot hardware, It show the practicable of robot simulation more clearly.This thesis base on the robot and simulation technology, make use of MSRS to simulate the AS-MRobot, and control the robot is come true.