Title :
The simulation of scara robot based on OpenGL and STL
Author :
Zhao, Zhenhua ; He, Kai ; Du, Ruxu
Author_Institution :
Shenzhen Inst. of Adv. Technol., Chinese Acad. of Sci., Shenzhen, China
Abstract :
The paper studies how to implement the motion simulation of scara robot, using Visual Basic 6.0 program language based on OpenGL and STL data model. After reading the STL data model, we can easily render the 3D model of SCARA using OpenGL. Then, according to the SCARA robot kinematics analysis, we can calculate the required joint parameters of the target and obtain the different pose of the robot in the movement. At last, by means of the double buffers of OpenGL, the motion simulation is implemented through redrawing and redisplaying the 3D model in different time.
Keywords :
Visual BASIC; control engineering computing; robots; visual languages; OpenGL; SCARA robot kinematics analysis; STL; Visual Basic 6.0 program language; motion simulation; Computational modeling; Data models; Electronic mail; Integrated circuit modeling; Robots; Solid modeling; Three dimensional displays; 3D model; OpenGL; SCARA Robot; STL data model; Simulation;
Conference_Titel :
Mechanic Automation and Control Engineering (MACE), 2011 Second International Conference on
Conference_Location :
Hohhot
Print_ISBN :
978-1-4244-9436-1
DOI :
10.1109/MACE.2011.5988251
