Stanford Manipulator Kinematics And Simulation Research

Robot is a complex dynamic system integrated with mechanical, electric/electronic and hydraulic sciences. The reasonable kinetic scheme and effective control arithmetic can be revealed by computer simulation of the system抯 dynamic characters to solve the problems in design, manufacture and run process. Now, the researches of robotic simulation system are mainly concentrated on the algorithm and 2D graphic simulation. It has been shown that the simulation cannot be considered to be satisfactory. Based on the structural analyses of the Stanford manipulator, the kinematic model has been built. The forward analysis has been developed according to the given joint parameters aimed at solving the manipulator抯 position and attitude, and the inverse analysis has also been developed according to the given position and attitude parameters to achieve the various joints択inematic value. In addition, the studies on the motion trajectory of the manipulators have been included in this thesis. According to the developed forward and inverse kinematic models, the Stanford manipulator抯 3D graphic simulation software has been developed based on VC++ and OpenGL graphic library on Windows platform. The software can be used to simulate the manipulator抯 motion in the feasible space. The proposed models and simulation software can be considered to be effective in studying the manipulator抯 kinematic relation, 3D track on the visual situation.