The Computer Simulation Of Robot Mechanisms Based On The Conformal Geometric Algebra

As robot technology is widely used in manufacturing and non-manufacturing fields,how to establish the robot kinematics model quickly and accurately,and to plan the robot motion path in order to shorten the design period and improve the efficiency of robot development.has become an urgent problem to be solved in the process of robot development and optimization design.In this paper,the forward and inverse kinematics theory,simulation software development and physical experiment verification of 7R Space series robot are carried out,and the results are as follows:Firstly,based on the conformal geometric algebra theory,the inverse kinematics analysis of the 7R series robot is completed,the process and results show the geometrical intuition of the robot kinematics solving process,and the 7-DOF Baxter Robot has a numerical example to verify the correctness and validity of the algorithm.Secondly,using VC++ development tools and OpenGL technology for 7R-DOF series robot simulation and design.The three-dimensional model and dynamic simulation of the Baxter Robot are established,and the interactive interface of the software is adopted,the operation is simple and easy to use.At the same time,the simulation software completes the real time simulation of the 7R-DOF series robot,solves the problem of the robot model,the Kinematics solution and the running trajectory display and output,achieves the goal of simulating the robot's running trajectory,and helps the designer to verify and check the state of the robot running in the complicated environment Avoid the collision of obstacles and the generation of their own singular points.Finally,the Baxter Intelligent Cooperative Robot is used as the research object,the kinematics analysis and simulation software verification experiment is completed.The correctness of kinematics and running trajectory and the feasibility of simulation software to simulate the robot are verified.