| The robotic technology has become the most crucial technology for the 21st century. Robotic simulation, especially visual simulation, plays increasingly important role in robotic research and application. Therefore, it is very significant to find a simple and effective way to implement robotic visual simulation. This thesis systematically discussed the related theory, techniques and algorithm of visualization of industrial robot simulation.The main work in this paper is summarized as follows:1.Take PUMA560 as a model, we introduce appropriate solution for solving the forward and inversed kinematic equation.2.Develop a virtual simulation platform including three-dimensional space, robot graphic, robot driver, kinematics algorithm and trajectory planning, all of which were verified by experiment.3. Research visual image feature extraction and camera calibration, introduce a specific algorithm for camera calibration, and use Matlab toolbox for camera calibration.4.Develop the software of video acquisition part with DirectShow. |
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