SIA OpenIR  > 空间自动化技术研究室
Alternative TitleAutomatic Modeling Simulation and 3D Navigation Planning of Motion Trajectory for Manipulator
高升1,2; 李正1,2; 张伟1,2
Source Publication计算机仿真
Contribution Rank1
Funding Organization中国科学院战略性先导科技专项(A类)(XDA1502030505)
Keyword自动建模 三维可视化 运动仿真 轨迹规划


Other Abstract

In the research of the virtual simulation for the mechanical arm, in order to realize the automatic modeling of the mechanical arm and the 3D visual display of the motion simulation, a simple and easy 3D visual simulation system for the mechanical arm was designed based on OpenGL 3D simulation technology. The system uses the reusable configuration library to realize the automatic modeling of the virtual manipulator. At the same time, a trajectory planning method based on 3D navigation was adopted. The trajectory was automatically tracked by importing the standardized G-code trajectory into the manipulator workspace. Finally, the virtual manipulator was controlled to complete the trajectory planning process and output the motion control command of the manipulator. Simulation results show that the system can realize the automatic modeling of the mechanical arm and the 3D visualization of the trajectory automatic tracking process, which provides a new way for the virtual simulation of the mechanical arm.

Document Type期刊论文
Corresponding Author高升
Recommended Citation
GB/T 7714
高升,李正,张伟. 机械臂自动建模与运动轨迹三维导航规划[J]. 计算机仿真,2020,37(10):297-302.
APA 高升,李正,&张伟.(2020).机械臂自动建模与运动轨迹三维导航规划.计算机仿真,37(10),297-302.
MLA 高升,et al."机械臂自动建模与运动轨迹三维导航规划".计算机仿真 37.10(2020):297-302.
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