Dynamic Simulation System Using DOF Picking Robot

ABSTRACT

A visualized dynamic simulation platform of picking robot based on OpenGL and Matlab is established in order to verify the validity of kinematics analysis and visually reflect the motion process. The robot kinematic model is established with D-H method and the forward kinematic solution for the robot is obtained. The inverse kinematic solution is solved by using the simplified inverse transformation method according to the operation features of the robot. Solidworks is adopted to set up 3D robot model, which is transformed through Deep Exploration into cpp formatted files that can be recognized by OpenGL. Visualized simulation verification is conducted on the forward and the inverse kinematic solution and the grabbing motion of the manipulator are conducted on the simulation platform based on Visual C++6.0 and OpenGL. Track planning is carried out for each of the manipulator joints by means of Matlab Robotics Toolbox. It is illustrated by the simulation results that the kinematic model established by D-H approach reflects the real motion conditions of the robot, and both the forward and inverse kinematic solutions are correct.

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