CAJ | 학술논문

针对Delta机器人图形化编程中的图形轨迹以及仿真验证问题，提出一种Delta机器人图形轨迹算法及仿真验证方法。在分析Delta机器人运动学控制算法的基础上，根据机器人轨迹的复杂性特点，设计Delta机器人的基本图形轨迹算法和复合图形轨迹算法。在机器人算法的验证问题上，利用 MFC结合 OpenGL混合编程，开发一套Delta机器人的三维动态仿真系统。轨迹仿真实例验证了机器人运动学控制算法及图形轨迹算法的可靠性，动态仿真系统在 Delta 机器人算法研究方面具有价值。
침대Delta궤기인도형화편정중적도형궤적이급방진험증문제，제출일충Delta궤기인도형궤적산법급방진험증방법。재분석Delta궤기인운동학공제산법적기출상，근거궤기인궤적적복잡성특점，설계Delta궤기인적기본도형궤적산법화복합도형궤적산법。재궤기인산법적험증문제상，이용 MFC결합 OpenGL혼합편정，개발일투Delta궤기인적삼유동태방진계통。궤적방진실례험증료궤기인운동학공제산법급도형궤적산법적가고성，동태방진계통재 Delta 궤기인산법연구방면구유개치。
Aiming at the problems of graphics traj ectory in graphic programming and simulation verification for Delta robot,the Delta ro-bot graphics algorithm and simulation verification method were presented.According to the complexity of robot trajectory,the basic graphics algorithm and complex graphics trajectory algorithm for Delta robot were designed on the basis of analysis of Delta robot kinematics control algorithm.To verify the algorithms for robots,the 3D dynamic simulation system for Delta robot was deve-loped using the mixed programming of MFC and OpenGL.The practical simulations verify the reliability of the robot kinematics control algorithms and graphics traj ectory algorithm,and the value of the simulation system in the research for algorithm of Delta robot.