基于V-REP的关节机器人运动仿真

›› 2017, Vol. 30 ›› Issue (4): 53-.

基于V-REP的关节机器人运动仿真

赵海林，钱炜，孙福佳

(上海理工大学机械工程学院，上海 200093)

出版日期:2017-04-15 发布日期:2017-04-11
作者简介:赵海林（1988- ），男，硕士研究生。研究方向：工业机器人运动控制。钱炜（1964- ），男，硕士，副教授。研究方向：机器人机构学等。
基金资助:
上海市经信委重大技术装备研制专项基金资助项目（ZB-ZBYZ-03-11-1709）

Research of Articulated Robot Motion Simulation Based on V-REP

ZHAO Hailin，QIAN Wei，SUN Fujia

(School of Mechanical Engineering，University of Shanghai for Science&Technology, Shanghai 200093, China)

Online:2017-04-15 Published:2017-04-11

摘要/Abstract

摘要：

提出了一种在V-REP平台下实现机器人虚拟运动控制及运动仿真方法。在V-REP中创建了机器人控制模型，并使用Lua编写了控制脚本及通信接口，使用Visual Studio 2010编写了外部控制程序。通过Socket通信实现机器人模型与外部控制程序的连接。以广泛应用的IRB4600六轴机器人模型为实验对象，通过外部控制程序实现机器人运动仿真的步骤。实验中机器人准确响应外部控制指令到达相应位置，验证了本方法的有效性。

关键词: V REP, 关节机器人, 运动仿真, Lua

Abstract:

An efficient method is presented to realize the virtual robot motion control and motion simulation based on V-REP platform.In V-REP robot control model is created and control script and the communication interface is developed with the Lua, and the external control program is written in Visual Studio 2010.Connection between robot model and external control program is realized through the Socket communication .Taking the widely used six-axis robot model IRB4600 as experimental object, this paper steps through the procedure of realizing the robot motion simulation with external control program.Robot responsed to external control instruction to reach the corresponding position in the experiment, whichveri-fied the effectiveness of this method.

Key words: V REP, articulated robot, motion simulation, Lua

中图分类号:

TP242.2

赵海林，钱炜，孙福佳. 基于V-REP的关节机器人运动仿真[J]. , 2017, 30(4): 53-.

ZHAO Hailin，QIAN Wei，SUN Fujia. Research of Articulated Robot Motion Simulation Based on V-REP[J]. , 2017, 30(4): 53-.