3-D Virtual Robotic Model Generated by D-H Parameters

Abstract

Generally,robot manipulators are geometrically described by the Denavit-Hartenberg(D-H)parameter table.The way to generate three-dimensional virtual models of robot manipulators from a D-H parameter table was proposed to realize the visualization of robot.The functions of controlling viewpoint and cruise in the scene provided by the simulation system implemented the observation of the robot model from angles and positions and they could be used as training system for those who manipulated robot.Generation of 3-D virtual robot model is one of the useful tools in the study of robot manipulators and the structural design.