一种高效的开放式关节型机器人3D仿真环境构建方法

甘亚辉; 戴先中

doi:10.3724/SP.J.1218.2012.00628

一种高效的开放式关节型机器人3D仿真环境构建方法

甘亚辉^1,2, ,,
戴先中^1,2

1.
东南大学自动化学院,江苏南京 210096
2.
复杂工程系统测量与控制教育部重点实验室,江苏南京 210096

详细信息

作者简介:
甘亚辉（1985—），男，博士生．研究领域：智能化焊接机器人，多机器人协作控制，无夹具焊接过程控制．
戴先中（1954—），男，博士，教授．研究领域：复杂控制理论，机器人控制，电力系统控制，测量及信号处理．

通信作者:
甘亚辉, ganyahui@yeah.net

中图分类号: TP273
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出版历程
- 收稿日期: 2012-03-01
- 修回日期: 2012-07-04
- 发布日期: 2012-09-14

An Efficient Method of Constructing Open 3D Simulation Environment for Articulated Robot

GAN Yahui^1,2, ,,
DAI Xianzhong^1,2

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

More Information

Corresponding author:
GAN Yahui: GAN Ya-Hui

摘要

摘要: 提出了一种高效地构建开放式的机器人3D仿真环境的方法．该方法以Matlab软件为平台，充分结合Pro/E等3D实体设计软件、 Matlab机器人工具箱和Matlab 3D动画技术建立可视化程度高、细节显示逼真的机器人3D仿真研究平台．以应用广泛的VA1400弧焊机器人为例，详细介绍了机器人3D仿真模型的建立、仿真实体的数据导入和仿真系统的3D动画演示等步骤，最终得到一个系统软件开放程度高、可视化效果逼真的机器人3D仿真环境．给出了仿真系统的部分显示效果，验证了本方法的有效性．
- 机器人3D仿真 /
- 弧焊机器人 /
- 机器人工具箱 /
- 3D动画技术
Abstract: 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.
- 3D robot simulation /
- arc welding robot /
- Robot Toolbox /
- 3D animation

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参考文献(11)

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