Design and implementation of a class library for robotics graphics simulation

摘要

Robotics graphics simulation, as an important research field in robotics, combines computer graphics technology with robotics simulation and represents the simulation result with graphics, so it has promising application in robotics research and off-line programming. The design and realization of a class library for robotics graphics simulation (CLRGS) are introduced in this paper. We do not emphasize on implementing a particular simulation system, but on constructing a common platform for robotics graphics simulation. In robot class library, we provide the common attributes and methods of robots, such as kinematics, Inverse kinematics, dynamics and trajectory planning. Many methods in robot class for graphics use are also provided. The class library is developed by using ANSI C++ and OpenGL, so it can run on different operating systems, which has a fine characteristic of openness. Users can developtheir own class by derving from our base robot class. After adding few lines of source code, they can easily produce their own robot simulation systems.