基于OpenGL空间机械臂三维重构可视化研究
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摘要
机器臂存在结构复杂、真实设备成本昂贵、实验条件受限等问题。在机械臂的设计研究中,可视化仿真系统作为一种安全灵活的工具,发挥着非常重要的作用,并广泛应用于机械臂设计和开发的各阶段。利用专业建模软件3D Studio MAX建立机械臂三维模型及场景,然后转换为OpenGL可以识别的3DS模型数据格式。在Visual C++开发环境中完成3DS模型数据的读取,结合OpenGL进行机械臂三维模型的重绘。根据机械臂D-H参数完成的机械臂正逆运动学求解算法,可以嵌入基于OpenGL的空间机械臂三维仿真系统中完成机械臂的运动控制和路径规划。实验结果表明,在Windows环境下以Visual C++结合OpenGL技术进行机械臂三维重构可视化研究,便于嵌入用户控制算法,可为机械臂的运动控制和路径规划研究提供依据。
There are some problmes in the space manipulator like complex structure, expensive devices and the limitation of experimental conditions.In the design and research of manipulator,visual simulation system, as a safe and flexible tool,plays a very important role and is widely used in each stage of the design and development of the manipulator.3 D Studio MAX,a professional modeling software, is for establishment of three-dimensional model and scene of the manipulator, and then converted into 3 DS data format which OpenGL can identify.In Visual C++ development environment, the 3 DS model data is read and combined with OpenGL three-dimensional model of manipulator is redrawed.According to the forward and inverse kinematics of the manipulator algorithm completed by the manipulator DH parameters, it can be embedded in the three-dimensional simulation system based on OpenGL space manipulator to complete the manipulator motion control and path planning.The experiment shows that under the Windows using Visual C++ and OpenGL for research on visualization of 3 D reconstruction for manipulator, it is convenient to embed user control algorithm,which can provide the basis for research on manipulator motion control and path planning.
There are some problmes in the space manipulator like complex structure, expensive devices and the limitation of experimental conditions.In the design and research of manipulator,visual simulation system, as a safe and flexible tool,plays a very important role and is widely used in each stage of the design and development of the manipulator.3 D Studio MAX,a professional modeling software, is for establishment of three-dimensional model and scene of the manipulator, and then converted into 3 DS data format which OpenGL can identify.In Visual C++ development environment, the 3 DS model data is read and combined with OpenGL three-dimensional model of manipulator is redrawed.According to the forward and inverse kinematics of the manipulator algorithm completed by the manipulator DH parameters, it can be embedded in the three-dimensional simulation system based on OpenGL space manipulator to complete the manipulator motion control and path planning.The experiment shows that under the Windows using Visual C++ and OpenGL for research on visualization of 3 D reconstruction for manipulator, it is convenient to embed user control algorithm,which can provide the basis for research on manipulator motion control and path planning.
引文
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[3]董天平,马燕,刘伦鹏.基于Open GL的工业化机器人仿真研究[J].重庆师范大学学报:自然科学版,2013,30(2):60-64.
[4]陈琳,戴骏,冯俊杰,等.基于Open GL的多机器人仿真环境[J].组合机床与自动化加工技术,2014(9):10-13.
[5]李新,李珊珊.3ds模型在Open GL中的读取和重绘[J].首都师范大学学报:自然科学版,2008,29(2):101-104.
[6]万鹏,姜立军,陈学东,等.基于图像处理的外螺纹三维模型重构[J].图学学报,2012,33(1):68-72.
[7]HERBORT S,WOHLER C.An introduction to image-based3D surface reconstruction and a survey of photometric methods[J].3D Research,2011,2(3):1-17.
[8]MERAT P,AGHILI F,SU Chunyi.Modeling,control and simulation of a 6-DOF reconfigurable space manipulator with lockable cylindrical joints[C]//International conference on intelligent robotics and applications.[s.l.]:[s.n.],2013:121-131.
[9]刘志林,苏丽.基于COSMOSMotion的机械臂三维虚拟仿真[J].机械设计与制造,2010(12):92-94.
[10]Shreiner D.Open GL编程指南[M].王锐,译.第8版.北京:机械工业出版社,2014.
[11]钱小平,杨庆华,荀一,等.基于Java3D的机械臂三维虚拟场景创建及运动学仿真[J].机电工程,2014,31(1):47-51.
[12]CHEN M Q,GONG Y W.Research on technology of three-dimension Roam based on Open GL[C]//International conference on computer application and system modeling.[s.l.]:[s.n.],2010:562-564.
[13]LIU N,PANG M Y.Rendering soft shadows with Open GL based on planar projection method[C]//2nd international conference on network infrastructure and digital content.[s.l.]:IEEE,2010:235-239.
[14]僧德文,李仲学,李春民,等.基于Open GL的真实感图形绘制技术及应用[J].计算机应用研究,2005,22(3):173-175.