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Space continuous path kinematic simulation of a robot based on VRML

ZHAO Wei-hua，WANG Yong，WANG Xian-lun   

  1. School of Mechanical Engineering，Shandong University，Jinan 250061，China
  • Received:2006-06-20 Revised:1900-01-01 Online:2007-04-24 Published:2007-04-24
  • Contact: ZHAO Wei-hua

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Abstract: A 3D robotic model was established by use of VRML (Virtual Reality Modeling Language) and 3DMAX. By the external authoring interface (EAI) interaction between Java and VRML, the kinematics, inverse kinematics and the continuous path (CP) movement of robot were simulated. As the CP movement of robot was simulated, the 3D model of workpiece was firstly established to extract the edge information. The robot can realize space continous path movement along the workpiece contour simulating the deburring and finishing process. The method based on 6DOF robot yet can be applied in robots with any degrees of freedom.

Key words: virtual reality, continuous path , robot

CLC Number: 

  • TP391.9
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