An Efficient Method of Constructing Open 3D Simulation Environment for Articulated Robot
GAN Yahui1,2, DAI Xianzhong1,2
1. School of Automation, Southeast University, Nanjing 210096, China;
2. Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Nanjing 210096, China
甘亚辉, 戴先中 . 一种高效的开放式关节型机器人3D仿真环境构建方法[J]. 机器人, 2012, 34(5): 628-633.DOI: 10.3724/SP.J.1218.2012.00628.
GAN Yahui, DAI Xianzhong. An Efficient Method of Constructing Open 3D Simulation Environment for Articulated Robot. ROBOT, 2012, 34(5): 628-633. DOI: 10.3724/SP.J.1218.2012.00628.
An efficient method for constructing an open 3D robot simulation environment is presented. Based on the platform of Matlab software, this method integrates the 3D solid design softwares such as Pro/E, Matlab Robot Toolbox and Matlab 3D visualization technology to construct a 3D robot simulation environment with good visualization and highly detailed model. Taking widely applied VA1400 arc welding robot as an example, steps of this method are presented in detail, including the construction of 3D robot model, data importation of solid model and 3D animation display of the simulation system. Thereafter, a high-level open robot simulation system with good 3D visualization is achieved. Snapshots and simulation graphs are presented, which prove the effectiveness of our method.
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