CAJ | 학술논문

以工业机器人在线仿真系统为研究对象，介绍了工业机器人仿真开发的技术方法。为了验证设计和算法的合理性和准确性，分别建立了基于 OpenGL 和 Matlab 的机器人在线仿真实验平台。然后根据 MDH 模型对其运动过程进行了仿真，从正解、反解两个方面对机械臂进行了运动学描述。最后研究了 OpenGL 和 Matlab 机器人工具箱在机器人在线仿真中应用的可行性，取得了良好的实际效果。仿真结果表明，该系统能够满足实际工程的要求。
이공업궤기인재선방진계통위연구대상，개소료공업궤기인방진개발적기술방법。위료험증설계화산법적합이성화준학성，분별건립료기우 OpenGL 화 Matlab 적궤기인재선방진실험평태。연후근거 MDH 모형대기운동과정진행료방진，종정해、반해량개방면대궤계비진행료운동학묘술。최후연구료 OpenGL 화 Matlab 궤기인공구상재궤기인재선방진중응용적가행성，취득료량호적실제효과。방진결과표명，해계통능구만족실제공정적요구。
Aiming at the industrial robot online simulation system as the research object , introduced the development of indus-trial robot simulation technique . In order to verify the rationality and accuracy of design and algorithm , first of all , this paper estab-lished robot online simulation experiment platform based on OpenGL and Matlab method . Then according to the MDH model , simu-late the motion process and describe mechanical arm from the two aspects of inverse and positive kinematics problems . Finally , stud-ied the feasibility of the application online based on OpenGL and Matlab tools in the robot simulation , obtained the good actual ef-fect . The simulation results show that system satisfies the requirements of practical engineering .