Analysis and Simulation of a 6R Robot in Virtual Reality

被引：1
|
作者：
Li Wen Juan [1 ]
Song Zheng He [1 ]
Zhu Zhong Xiang [1 ]
Mao En Rong [1 ]
机构：
[1] China Agr Univ, Coll Engn, Beijing 100083, Peoples R China
来源：
IFAC PAPERSONLINE | 2016年 / 49卷 / 16期
关键词：
inverse kinematics; 6R robot; virtual reality; MATLAB; EON;
D O I：
10.1016/j.ifacol.2016.10.078
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
To analyse the motion of a 6R robot, the inverse kinematics analysis was performed. Virtual reality nukes it visible and verisimilar to simulate the robot motion as well as to verify the inverse kinematics analysis and the consistency of pose for the robot. In virtual reality, which is developed by EON Studio software, the robot motion is realized by joints control which requires the joint control functions instead of the use of teach pendant in practice. Addressing the particular difficulties, the MATLAB software was used for performing inverse kinematics analysis as well as to fit the control functions of the joints. The combination of MATLAB and EON can realize the control of a 6R robot to validate smooth motions in virtual reality. (C) 2016, IFAC (International Federation of Automatic Control) Hosting Elsevier Ltd. All rights reseirved.
引用
收藏
页码：426 / 430
页数：5
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