机器人2012，Vol.34Issue(5)：628-633,6.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
An Efficient Method of Constructing Open 3D Simulation Environment for Articulated Robot
摘要
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.关键词
机器人3D仿真/弧焊机器人/机器人工具箱/3D动画技术Key words
3D robot simulation/ arc welding robot/ Robot Toolbox/ 3D animation分类
信息技术与安全科学引用本文复制引用
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):628-633,6.基金项目
国家自然科学基金资助项目(61175113) （61175113）
国家863计划资助项目(2006AA040402,2007AA041703,2009AA043903-1-1) （2006AA040402,2007AA041703,2009AA043903-1-1）
江苏省科技成果转化项目(BA2007058) （BA2007058）
江苏省普通高校研究生科研创新计划资助项目(CX10B_076Z) （CX10B_076Z）
东南大学优秀博士学位论文基金资助项目 （）
