An OpenGL Application for Industrial Robots Simulation

摘要

This paper presents a Visual C++ and OpenGL application for 3D simulation of the serial industrial robots. To develop this application we started from the forward kinematics of the robot taken into consideration. The functions implemented in the source code are able to calculate the position and orientation of each robot joint, including the position and orientation of the robot gripper. With the help of the OpenGL functions, the application is able to draw and simulate the 3D kinematic scheme of the robot. In addition, the application has a calculus module where the gripper position can be determined using particular values for the robot joints positions or orientations