A robot kinematics simulation system based on OpenGL

Wang, Yanshen; Yu-xian, Gai; Wu, Fang-Yong

doi:10.1109/ramech.2011.6070474

Cited by 7 publications

(11 citation statements)

References 6 publications

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“…As a cross-platform graphic interface, OpenGL 10,[22][23][24][25] can present 3D graphics without third-party software or plug-ins; therefore, a simulation platform developed on OpenGL could solve the above problem suitably. However, OpenGL cannot run as a web-based application.…”

Section: Software Development Based On Graphic Databases Such As Openmentioning

confidence: 99%

“…Most applications of robot virtual simulation [1][2][3][4][5][6][7][8][9][10]13,14,[16][17][18][19][20]25 are designed for academic or engineering purposes (there are several similar studies that are not listed in this paper). In educational applications, 2,11,12,15,[22][23][24][26][27][28] the robotic • Observe movement of joint or end-effector through sliders for explaining forward or inverse kinematics.…”

Section: Software Development Based On Graphic Databases Such As Openmentioning

confidence: 99%

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Robotic kinematics teaching system with virtual reality, remote control and an on–site laboratory

Guo

Zhai

et al. 2018

International Journal of Mechanical Engineering Education

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Given the ever-growing need for robotics learning, an experimental teaching model was developed in combination with virtual reality, remote control and an on-site laboratory to support robotic kinematics teaching. Based on the Browser/Server mode, a kinematics simulation platform of a 6-DOF articulated robot and a 4-DOF SCARA robot was established. Furthermore, a Client/Server mode SCARA robot’s remote-control system was developed along with a simulation with the same functionality and interface. Experiments with virtual reality simulation can eliminate the safety concerns associated with real-world robot operations. Test resources can be web-shared for wider audiences. Remote-controlled experiments could operate the robot off-site and achieve the same results as on-site operations. Virtual reality and remote-controlled experiments could also alleviate the shortages of lab time, space, equipment, staff and teaching time. Students could choose one of the three modes to examine the effectiveness of their study, or they could first use simulations and later operate robots on-site or remotely and obtain real-world experimental results. The various testing combinations available to learners would improve the flexibility, effectiveness and safety of experiments and would meet various learners’ needs.

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Section: Software Development Based On Graphic Databases Such As Openmentioning

confidence: 99%

Section: Software Development Based On Graphic Databases Such As Openmentioning

confidence: 99%

Robotic kinematics teaching system with virtual reality, remote control and an on–site laboratory

Guo

Zhai

et al. 2018

International Journal of Mechanical Engineering Education

View full text Add to dashboard Cite

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“…Model simulation can verify the correctness of the kinematic analysis, and provide intuitive understanding and rigorous data [1,18]. The robot model discussed in this paper is built relying on the powerful function of the MATLAB platform.…”

Section: Inverse Kinematicsmentioning

confidence: 99%

Kinematic analysis and simulation of a new-type robot with special structure

Guo

et al. 2014

Adv. Manuf.

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Common methods, such as Denavit-Hartenberg (D-H) method, cannot be simply used in kinematic analysis of special robots with hybrid hinge as it is difficult to obtain the main parameters of this method. Hence, a homogeneous transformation theory is presented to solve this problem. Firstly, the kinematics characteristic of this special structure is analyzed on the basis of the closed-chain theory. In such a theory, closed chains can be transformed to open chains, which makes it easier to analyze this structure. Thus, it will become much easier to establish kinematics equations and get the solutions. Then, the robot model can be built in the Simmechanics (a tool box of MATLAB) with these equation solutions. It is necessary to design a graphical user interface (GUI) for robot simulation. After that, the model robot and real robot will respectively move to some spatial points under the same circumstances. At last, all data of kinematic analysis will be verified based on comparison between data got from simulation and real robot.

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“…However, the simulation speed of this method is not very fast, and the simulation parameters can only be set in advance, so the real-time performance of the simulation is poor. In the simulation of some robots, especially industrial robots [11,12,13], the position coordinates of each part of the robot are calculated by programming language, such as C++, and the corresponding 3D graphics are drawn by OpenGL to display the corresponding calculation results dynamically. This kind of three-dimensional motion simulation only shows the positions of the robot parts calculated by the kinematics equation, not by the physical engine.…”

Section: Introductionmentioning

confidence: 99%

Navigation Simulation of a Mecanum Wheel Mobile Robot Based on an Improved A* Algorithm in Unity3D

Dai

Shi

et al. 2019

Sensors

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Computer simulation is an effective means for the research of robot navigation algorithms. In order to implement real-time, three-dimensional, and visual navigation algorithm simulation, a method of algorithm simulation based on secondary development of Unity3D is proposed. With this method, a virtual robot prototype can be created quickly with the imported 3D robot model, virtual joints, and virtual sensors, and then the navigation simulation can be carried out using the virtual prototype with the algorithm script in the virtual environment. Firstly, the scripts of the virtual revolute joint, virtual LiDAR sensors, and terrain environment are written. Secondly, the A* algorithm is improved for navigation in unknown 3D space. Thirdly, taking the Mecanum wheel mobile robot as an example, the 3D robot model is imported into Unity3D, and the virtual joint, sensor, and navigation algorithm scripts are added to the model. Then, the navigation is simulated in static and dynamic environments using a virtual prototype. Finally, the navigation tests of the physical robot are carried out in the physical environment, and the test trajectory is compared with the simulation trajectory. The simulation and test results validate the algorithm simulation method based on the redevelopment of Unity3d, showing that it is feasible, efficient, and flexible.

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A robot kinematics simulation system based on OpenGL

Cited by 7 publications

References 6 publications

Robotic kinematics teaching system with virtual reality, remote control and an on–site laboratory

Robotic kinematics teaching system with virtual reality, remote control and an on–site laboratory

Kinematic analysis and simulation of a new-type robot with special structure

Navigation Simulation of a Mecanum Wheel Mobile Robot Based on an Improved A* Algorithm in Unity3D

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