Kinematics Simulation of Reconfigurable Modular Manipulator Based on OpenGL
|School||Beijing Forestry University|
|Course||Mechanical Manufacturing and Automation|
|Keywords||manipulator openGL kinematics|
Facing with the diversified configuration of spatial manipulator, to develop a method and algorithm to solve the inverse kinematics of manipulator, has always been a main objective for researchers. This paper showed a solution applying Groebner Basis algorithm for the inverse kinematics of5DOF serial robotic arm. Based on the algorithm, the graphic module and simulation platform of5DOF serial robotic arm is created using Visual C++,MAPLE software as well as openGL.Generally speaking, this paper has illustrated the meaning and current dynamic status of manipulator’s kinematics after a comprehensive knowledge of the corresponding research domestic and abroad. At the same time, it has concluded the theories as well as my point of view for the prospect of the direction for the manipulator’s kinematics.For the forward kinematics, this paper has determined the solution by establishing D-H matrix space displacement equation; for the inverse kinematics it’s obtained through the establishment of corresponding closed loop module equation, transfer the trigonometric equation to algebraic equation, and then determine the solution, to finish the inverse kinematics of5R general configured manipulator.The innovation part of the research lies in following aspects:the establishment of5DOF manipulator’s kinematics module and the general kinematics algorithm which can cover general configuration; having created the graphic module which can fulfill the modular manipulator joint with real-time manipulation.Finally the paper concludes the previous research and provides a possible outlook for the next stage research.The algorithm developed is important for a higher DOF manipulator’s kinematics simulation.