【摘要】 为验证运动学分析的正确性,形象直观地反映运动过程,建立了基于OpenGL和MATLAB的采摘机器人可视化动态仿真平台。利用Denavit-Hartenberg方法建立了机器人运动学模型,得到了机器人的运动学正解。采用简化的反变换法求解机器人运动学逆解。采用SolidWorks建立机器人的三维模型,然后通过Deep Exploration将其转换成OpenGL所识别的cpp格式文件。基于VisualC++6.0与OpenGL的仿真平台,对机械手的运动学正解、逆解、抓取动作进行可视化仿真验证。并且利用MATLAB的Robotics Toolbox对机械手的各关节进行轨迹规划。仿真结果表明:D-H法建立的运动学模型反映了采摘机器人的真实运动情况,采摘机器人运动学正逆解正确。更多还原

【Abstract】 In order to verify the correctness of kinematics analysis and visually reflect the motion process, a visual dynamic simulation platform for picking robots based on OpenGL and MATLAB is established. The kinematics model of the robot is established by using the Denavit-Hartenberg method, and the kinematics positive solution of the robot is obtained. The simplified inverse transformation method is used to solve the inverse kinematics of robots. The 3 D model of the robot is built using SolidWorks and then converted to the cpp format file recognized by OpenGL by Deep Exploration. Based on the simulation platform of Visual C++6.0 and OpenGL, the visual simulation verification of the kinematics positive solution, inverse solution and grasping action of the manipulator is carried out. The Robotics Toolbox of MATLAB is used to plan the trajectory of the joints of the manipulator. The simulation results show that the kinematics model established by D-H method reflects the real motion of the picking robot, and the positive and inverse solutions of the picking robot kinematics are correct.更多还原