Simulation Of 6-DOF Manipulator Based On OpenGL Combined With VRML

As robots have more and more applications,research of simulation for manipulator also becomes important.The simulation of manipulator,which use the computer technology to simulate the working environment and the working process,provides a virtual visualization of human-computer interaction platform.Trajectory planning of manipulator is one of important parts of the manipulator kinematics.The quality of trajectory planning algorithms has a direct effect on the accuracy and efficiency of the manipulator movement.Trajectory planning is the basis of robot dynamics,which provide guarantee for smooth and efficient running of the manipulator.This paper mainly studied the simulation and trajectory planning of six degrees of freedom(6-DOF)manipulator.First,the mathematical model of manipulator is set up by manipulator parameters,3D model of manipulator is structured by using the Open GL graphics library.Secondly,the forward and inverse kinematics equation is solved for trajectory planning.At last,the trajectory planning algorithm of joint space and cartesian space of manipulator is discussed,and shortest path planning study of manipulator based on quintic Hermite interpolation is also provided.The main work is as follows:1.1.Since VRML has advantages on information representation,i.e.,more details1.1.Since VRML has advantages on information representation,i.e.,more details and keeps topological information,VRML is used to represent 3D manipulator model in Solid Works software,the model is read and display using Open GL in VC6.0.2.The mathematical model of the manipulator is established by the model structure.The algorithm of the forward and inverse kinematics is discussed and the solution of the forward and inverse kinematics is given.3.The trajectory planning algorithm of joint space and Cartesian space of the manipulator is discussed.Then shortest path planning study of manipulator based on quintic Hermite interpolation is provided.The length of path is expressed in integral form.On the other hand,this extremum value problem can be written as a system of linear equations.So the solution can be achieved easily.At the end of this chapter,two examples are also included to show the correctness of our method.