| D-H参数表生成三维机器人模型仿真系统 |
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| 引用本文： | 周芳芳,樊晓平,叶榛.D-H参数表生成三维机器人模型仿真系统[J].系统仿真学报,2006,18(4):947-950. |
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| 作者姓名： | 周芳芳 樊晓平 叶榛 |
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| 作者单位： | 1. 中南大学信息科学与工程学院,自动化工程研究中心,湖南,长沙,410075
2. 清华大学智能技术与系统国家重点实验室,北京,100084 |
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| 摘 要： | 一般情况下机器人各关节的几何关系可通过Denavit-Hartenberg(D-H)参数表来描述。提出了采用D-H参数表生成机器人三维虚拟模型的方法,实现了机器人的可视化。仿真系统提供的视图控制功能和场景漫游功能实现了多角度、多位置观测机器人模型的几何结构,并为机器人操作人员提供了训练仿真平台。该系统可以作为机器人学习和机器人结构设计的辅助工具。
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| 关 键 词： | D-H参数 机器人运动学 机器人 三维模型 可视化 |
| 文章编号： | 1004-731X（2006）04-0947-04 |
| 收稿时间： | 2005-01-15 |
| 修稿时间： | 2005-09-21 |
3-D Virtual Robotic Model Generated by D-H Parameters |
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| ZHOU Fang-fang,FAN Xiao-ping,YE Zhen.3-D Virtual Robotic Model Generated by D-H Parameters[J].Journal of System Simulation,2006,18(4):947-950. |
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| Authors: | ZHOU Fang-fang FAN Xiao-ping YE Zhen |
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| Institution: | 1.Research Center for Automation Engineering, Central South University, Changsha 410075, China; 2.Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China |
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| Abstract: | Generally,robot manipulators are geometrically described by the Denavit-Hartenberg(D-H)parameter table.The way to generate three-dimensional virtual models of robot manipulators from a D-H parameter table was proposed to realize the visualization of robot.The functions of controlling viewpoint and cruise in the scene provided by the simulation system implemented the observation of the robot model from angles and positions and they could be used as training system for those who manipulated robot.Generation of 3-D virtual robot model is one of the useful tools in the study of robot manipulators and the structural design. |
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| Keywords: | d-h parameters robot kinematics robot manipulator three-dimensional model visualization |
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