Study on the simulation system in an AR robot operating platform

摘要

A simulation platform was introduced to build robot simulation model more conveniently and quickly for the networked robot operating system based on augmented reality. Encapsulating most of the basic OpenGL functions, the platform was organized in a layered structure and made up of two kinds of nodes: geometric nodes and action nodes. Multiple geometric nodes with the same action were bundled together. Actions including translation and rotation were studied in both single object mode and bundled objects mode. With the platform, a robot simulation model was built and tool interchanging process was simulated. Robot simulation was much easier and more flexible.