Kinematics and interactive simulation system modeling for robot manipulators

Xiao Xiao, Yangmin Li, Hui Tang

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

8 Citations (Scopus)

Abstract

In this paper, three convenient, efficient and accurate virtual scene modeling methods are proposed for robot manipulators. 3D modeling softwares in terms of SolidWorks and UG are exploited to construct the 3D models of the virtual scene. The 3D models are established and the data are used and shared by OpenGL and VRML. The virtual scene is displayed on Visual C++, LabVIEW and MATLAB platform, which can be controlled as requested. The forward and inverse kinematics of a robot manipulator named Katana450 are analyzed by using the exponential product method, then the interactive simulation system is established based on the three mentioned platforms, finally the simulation and experimental results are provided base on MATLAB/Simulink. The methods are expected to be widely used in virtual scene modeling of robot manipulators and extended to other complex mechanical systems as well.
Original languageEnglish
Title of host publication2013 IEEE International Conference on Information and Automation, ICIA 2013
Pages1177-1182
Number of pages6
DOIs
Publication statusPublished - 1 Dec 2013
Externally publishedYes
Event2013 IEEE International Conference on Information and Automation, ICIA 2013 - Yinchuan, China
Duration: 26 Aug 201328 Aug 2013

Conference

Conference2013 IEEE International Conference on Information and Automation, ICIA 2013
CountryChina
CityYinchuan
Period26/08/1328/08/13

Keywords

  • Interactive simulation system
  • OpenGL
  • Paden-Kahan subproblems
  • VRML

ASJC Scopus subject areas

  • Information Systems

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