【摘要】 针对自主研发的5自由度教学机器人,结合OpenGL三维建模技术,运用Visual C++平台设计了基于C／S结构可代替传统示教盒的教学机器人三维运动仿真、离线编程和远程控制的软件。该文首先介绍了教学机器人基本结构以及底层控制系统实现方法,然后详细介绍了一般仿真系统的软件结构、利用OpenGL进行教学机器人3D建模和动画、离线编程以及运用WinSocket控件实现网络通讯和远程控制的方法,最后结合教学机器人几何特性提出了简便的求逆解的方案,并简单探讨了机器人运动路径规划插补方法。更多还原

【Abstract】 For our 5 - DOF Education - Robot,a software which can replace the traditional instruct - panel and realize offline program and remote control through internet is developed based on C/S structure with OpenCL in Vc + + platform . At first , this paper introduces the Edu - Robot fundamental structure and sub - driver ,then in detail introduces the popular simulation software structure and the method for building 3D model&animation by OpenGL , offline programming and how to realize network communication and remote control by WinSocket control. Finally, a new simple inverse kinematics method according to the Edu - Robot geometry characteristics is brought out and the trajectory planning is briefly discussed.更多还原