Model Building And Dynamic Simulation Of Manipulator Using OpenGL

The realistic treatment and dynamic simulation were realized with OpenGl in VC++ 6.0 based on the kinematic model and geometric model constructed respectively for an object holding manipulator.First, Coordinate systems of the member bars of the manipulator were established based on robot kinematics according to the D-H method. Several primary kinds of movement, such as translation, lifting, grasping were well designed for kinematics simulation. Then with the principle of machine obverse and inverse kinematics, we analyzed the moving trace of object holding manipulator, and built up the kinematics model of all kinds of basic movement.Secondly we established the geometry models using 3DS MAX, and developed a program interface capable of reading the 3DS model data directly with OpenGL through analyzing the 3DS file format.The 3D models created in 3DS MAX, therefore, can be used and manipulated by OpenGL program so as to make up for the deficiency of OpenGL in constructing complex models.Eventually the keyboard control system was designed and an effective graphics display system was built up with OpenGL in the VC++ development environment.The dynamic simulation of manipulator was performed in this graphics display system and obtained the expected effect. With the help of graphic simulation based on OpenGL, virual test of robot performance can be supported and realized without real robots. The simulation system is helpful to shorten the period and lower the cost of robot development.