Modeling of home robot based on virtual reality

摘要

For the purpose of shortening the development cycle and reducing the research cost, the computional simulation of the virtual prototype modeling is applied to design the system of virtual home robot. By means of three-dimensional real scene modeling, the virtual enviroment of family rooms and entity models of virtual domestic robot are established on Silicon graphics workstation. The kinematics model of home robot is derived for differential speed of wheels. The geometric model of each part of demestic robot is articulated as a node tree to be put into the virtual enviroment. Then the simulation is put forward, as the virtual home robot roaming in the virtual enviroment of family rooms. It can be concluded that the synergy between the fields of Virtual Reality and Robotics is an effective way of studying robot.