Kinematics Simulation of MOTOMAN-HP3 Robot Based on Virtual Reality

China Mechanical Engineering ›› 2010, Vol. 21 ›› Issue (16): 1952-1954,1998.

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Kinematics Simulation of MOTOMAN-HP3 Robot Based on Virtual Reality

Zhan Xiaolei1,2;Xin Hongbing2;Hans-Peter Lentes3

1.China Academy of Machinery Science & Technology,Beijing,100083

2.Beijing Technology and Business University,Beijing,100037

3.Fraunhofer IAO,Stuttgart,Germany,70569

Online:2010-08-25 Published:2010-09-14
Supported by:

International S&T Cooperation Program of China( No. 2008DFA71250);
Natural Science Foundation of Beijing（No. 3082005）

基于虚拟现实的MOTOMAN-HP3型机器人运动学仿真

战晓磊1,2;辛洪兵2;汉斯·彼德　兰特斯３

1.机械科学研究总院,北京,100083

2.北京工商大学,北京,100037

3.弗劳恩霍夫工业经济与组织研究所,斯图加特,70569

基金资助:
国际科技合作项目(2008DFA71250)；北京自然科学基金资助项目(3082005)
International S&T Cooperation Program of China( No. 2008DFA71250);
Natural Science Foundation of Beijing（No. 3082005）

Abstract

Abstract:

According to the structure characteristics of MOTOMAN-HP3 robot, a multilayer distributed network control system based on client/server and kinematics equations in D-H coordinates were designed. By model building using Solidworks-VRML method, combined with robot kinematics and VR toolbox, a VR control system of MOTOMAN-HP3 robot was built, and remote control was achieved finally.

Key words:

MOTOMAN-HP3, robot, kinematics, virtual reality(VR)

摘要：

根据首钢莫托曼MOTOMAN-HP3型机器人的特点,设计了基于客户端/服务器端的分布式网络控制结构和D-H坐标下的运动学求解方程,采用Solidworks-VRML方法建立虚拟模型,结合机器人运动学和虚拟现实工具箱,构建了基于虚拟现实的MOTOMAN-HP3型机器人运动学仿真系统,实现了机器人的远程控制。

关键词:

MOTOMAN-HP3, 机器人, 运动学, 虚拟现实

CLC Number:

TP242
TH12

ZHAN Xiao-Lei, XIN Hong-Bing, HAN Shi-·Bi-De-　Lan-Te-Shi.

Kinematics Simulation of MOTOMAN-HP3 Robot Based on Virtual Reality

[J]. China Mechanical Engineering, 2010, 21(16): 1952-1954,1998.

战晓磊, 辛洪兵, 汉斯·彼德　兰特斯.

基于虚拟现实的MOTOMAN-HP3型机器人运动学仿真

[J]. 中国机械工程, 2010, 21(16): 1952-1954,1998.

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Kinematics Simulation of MOTOMAN-HP3 Robot Based on Virtual Reality

基于虚拟现实的MOTOMAN-HP3型机器人运动学仿真

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