Modelo VRML interactivo de un robot humanoide Bioloid

摘要

In this paper a Computer Aided Design (CAD) model of a Bioloid robot in humanoid configuration is presented. The draw is realized in virtual reality modeling lenguaje (vrml) and through a User Interface programmed on MatLab it is possible to modify several of its characteristics. The graphical representation of this robot that is described throughout this work includes the axis of the 18 motors of the robot and an orthogonal frame attached to the corresponding 18 articulation of its kinematic chainin order to have a basis for the direct and inverse kinematic model for this robot.