外文翻譯---基于虛擬現(xiàn)實技術的機器人運動仿真研究-全文預覽
【正文】 for motion simulation on inter. Yang[3]and Zhao[5] researched the motion simulation of robot by VRML, and they didn’ t optimize VRML file. Bo[8] provided environmental simulation within a virtual environment by Java and VRML interaction through the External Authoring Interface. Qin[9] researched a novel 3D simulation modeling system for distributed manufacturing. In this paper, the CINCINNATI robot is researched and analysed by VRML and Java and VRML file is optimized fortransmission on inter. The 3D visualization model of the motion simulation for robot is realized by VRML and Java based on virtual reality. Therefore the research about motion simulation of robot based on inter is significant and application value. II. KINEMATICS OF ROBOT There are two problems for the kinematics of robot. One problem is direct kinematics’ problems, which the gesture of terminal actuator in the setting system of coordinates need be solved by the geometric parameter and joint variate of member. The other is inverse kinematics’ problems, which the joint variate value need be solved by the robot geometric parameter and the gesture of terminal actuator in the whole system of coordinates [13][16]. The industrial robot is researched in the paper, and it was manufactured in CINCINNATI MILACRON COMPANY. The robot with six degrees of freedom shows in is extensiv
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