CAJ | 학술논문

为打破国外机器人仿真控制软件的技术垄断，利用OpenGL及MFC在VC6．0平台上开发了一款工业串联机器人的运动控制及标定软件。其人机交互的实现包括机器人选型、运动学仿真、末端位置测量、基坐标系和工具坐标系标定、精度分析、误差参数辨识、误差补偿及效果验证9大流程。通过RS232串口通讯实现界面和控制器的数据通讯，同时结合3 D模型的显示及动作模拟，可实现机器人末端轨迹的在线规划、机器人标定、运动控制等功能。
위타파국외궤기인방진공제연건적기술롱단，이용OpenGL급MFC재VC6．0평태상개발료일관공업천련궤기인적운동공제급표정연건。기인궤교호적실현포괄궤기인선형、운동학방진、말단위치측량、기좌표계화공구좌표계표정、정도분석、오차삼수변식、오차보상급효과험증9대류정。통과RS232천구통신실현계면화공제기적수거통신，동시결합3 D모형적현시급동작모의，가실현궤기인말단궤적적재선규화、궤기인표정、운동공제등공능。
In order to break the foreign technical monopoly of robot simulation and control software , it develops the kinematic control and calibration software for industrial serial robot based on MFC and OpenGL in VC 6 .0 platform .The functions of this system include the robotics selection , kinematics simulation , the measurement of terminal position , the calibration for the base coordinate system and the tool coordinate system , the accuracy a-nalysis, the identification of error parameter , the error compensation and effect verification .The data communi-cation between interface and controller is done based onRS 232 serial port communication .With 3D model display and kinematic simulation , the system can realize online planning for robot terminal position trajectory , the robot calibration , motion control and other functions .