An OpenGL Application for Industrial Robots Simulation

Author

Marcu, C. ; Lazea, Gh ; Robotin, R.

Author_Institution

Tech. Univ. of Cluj-Napoca

Volume

2

fYear

2006

fDate

25-28 May 2006

Firstpage

254

Lastpage

259

Abstract

This paper presents a Visual C++ and OpenGL application for 3D simulation of the serial industrial robots. To develop this application we started from the forward kinematics of the robot taken into consideration. The functions implemented in the source code are able to calculate the position and orientation of each robot joint, including the position and orientation of the robot gripper. With the help of the OpenGL functions, the application is able to draw and simulate the 3D kinematic scheme of the robot. In addition, the application has a calculus module where the gripper position can be determined using particular values for the robot joints positions or orientations

Keywords

C++ language; computer graphics; digital simulation; grippers; industrial robots; robot kinematics; 3D simulation; OpenGL application; Visual C++; calculus module; forward robot kinematics; robot gripper; serial industrial robots simulation; Animation; Application software; Automata; Computational modeling; Computer simulation; Equations; Grippers; Kinematics; Object oriented modeling; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation, Quality and Testing, Robotics, 2006 IEEE International Conference on

Conference_Location

Cluj-Napoca

Print_ISBN

1-4244-0360-X

Electronic_ISBN

1-4244-0361-8

Type

conf

DOI

10.1109/AQTR.2006.254641

Filename

4022964