SIMULATING THE KINEMATICS AND MOTIONS OF ROBOTIC MANIPULATORS USING 3D GAME DEVELOPMENT TOOLS

摘要

There are several different ways to create and control virtual 3D (three-dimensional) models of robots, however, most of these methods can only be implemented or understood by experts with years of extensive experience in 3D graphics programming, 3D mathematics and a plethora of advanced skills in the areas of solid modelling and 3D animation. This paper presents a brief history and summary of the state-of-the-art in 3D game development tools and technologies which can be used to develop realistic looking graphics for developing user interfaces and robot control programming tools. It also presents a simple and easy-to-learn kinematic modelling and 3D simulation process using a 4 degree of freedom (4-dof) articulated robot leg for an amphibious walking and swimming robot that is currently being designed by the authors. This 4-dof robot leg will be used as an example or case study to demonstrate an effective method for motion control, animation and simulation. Also described are popular software tools and essential skills needed to create a simple 3D simulation program. The source code of the 3D simulation software for the 4-dof robot leg is listed and described to help readers apply such methods to other robot designs, devices and complex machinery.