한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

자동교시기능을 갖는 산업용 로봇의 3차원 오프라인 시뮬레이터 개발

Development of Off-line Simulator for Industrial Robots with Auto-teaching

  • 정동연 (경남대학교 대학원 기계설계학과) ;
  • 한성현 (경남대학교 공과대학 기계자동화공학부)
  • 발행 : 2003.12.01
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초록

We propose a new technique to design an unmaned integrating control system based-on Windows XP version off-Line Programming System which can simulate a dynamic model of robot manipulator in three dimensions graphics space in this paper. The robot with 4 and 6 axes modeled SM5 and AM1 respectively were adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed off-line program. The interface between users and the off$.$line programming system in the Windows XP's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by silicon Graphics, Inc. were utilized for three dimensions graphics.

키워드

참고문헌

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