Analysis and Simulation of a 6R Robot in Virtual Reality

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• 作者：Li Wen. Juan^* ; ^{liwenjuan0311@126.com" class="auth_mail" title="E-mail the corresponding author} ; Song Zheng. He^** ; ^{songzhenghe@cau.edu.cn" class="auth_mail" title="E-mail the corresponding author} ; Zhu Zhong. Xiang^*** ; ^{zhuzhonxiang@cau.edu.cn" class="auth_mail" title="E-mail the corresponding author} ; Mao En. Rong^**** ; ^{gxy15@cau.edu.cn" class="auth_mail" title="E-mail the corresponding author}
• 关键词：inverse kinematics ; 6R robot ; virtual reality ; MATLAB ; EON
• 刊名：IFAC-PapersOnLine
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：49
• 期：16
• 页码：426-430
• 全文大小：822 K

文摘

To analyse the motion of a 6R robot, the inverse kinematics analysis was performed. Virtual reality makes 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.