计算机技术与发展2018，Vol.28Issue(1)：178-181,187,5.DOI:10.3969/j.issn.1673-629X.2018.01.038
基于OpenGL空间机械臂三维重构可视化研究
Research on Visual 3 D Reconstruction of Space Manipulator Based on OpenGL
摘要
Abstract
There are some problmes in the space manipulator like complex structure,expensive devices and the limitation of experimental conditions. In the design and research of manipulator,visual simulation system,as a safe and flexible tool,plays a very important role and is widely used in each stage of the design and development of the manipulator. 3D Studio MAX,a professional modeling software,is for establishment of three-dimensional model and scene of the manipulator,and then converted into 3DS data format which OpenGL can i-dentify. In Visual C++ development environment,the 3DS model data is read and combined with OpenGL three-dimensional model of manipulator is redrawed. According to the forward and inverse kinematics of the manipulator algorithm completed by the manipulator D-H parameters,it can be embedded in the three-dimensional simulation system based on OpenGL space manipulator to complete the ma-nipulator motion control and path planning. The experiment shows that under the Windows using Visual C++and OpenGL for research on visualization of 3D reconstruction for manipulator,it is convenient to embed user control algorithm,which can provide the basis for re-search on manipulator motion control and path planning.关键词
空间机械臂/三维模型/3DS/OpenGL/可视化系统Key words
space manipulator/3D model/3DS/OpenGL/visual system分类
航空航天引用本文复制引用
李泰国,李文新,王伟文,高家祺..基于OpenGL空间机械臂三维重构可视化研究[J].计算机技术与发展,2018,28(1):178-181,187,5.基金项目
国家自然科学基金资助项目(11605080) （11605080）
