针对工业分栋问题,建立了一个基于OpenGL的六轴机械臂的仿真实验平台.根据D-H模型对其运动过程进行了仿真,从正解、反解两个方面对机械臂进行了运动学描述.验证了正、逆运动学求解工程的正确性.并且对仿真系统进行了机器人标定,可以对机械臂进行误差补偿.同时提出了一种几何反解方法,解决了逆运动学复杂计算问题.仿真结果表明,该系统能够满足实际工程的要求.%Aiming at the industrial sorting technology problems, it establishes an experimental platform of six-DOF manipulator based on OpenGL The motion process is simulated and mechanical arm kinematics problem is described from two aspects of the inverse and positive based on D-H model. It calibrates the simulation system, applying error compensation on manipulators. It puts forward a geometrical method of inverse kinematics solution, and solves calculation complicated problem. The simulation results show that system satisfies the requirements of practical engineering.
展开▼
