外文翻译--基于虚拟现实技术的机器人运动仿真研究research-on-motion-simulation-for-robot-based-on-virtu.doc

华中科技大学文华学院毕业设计（论文）外文文献翻译题 目：基于虚拟现实技术的机器人运动仿真研究 学 生 姓 名： 学号： 学 部 （系）： _ _ _专 业 年 级： 指 导 教 师： 职称或学位：_ _2012 年 4 月 1 日外文文献翻译（译成中文1000字左右）：【主要阅读文献不少于5篇，译文后附注文献信息，包括：作者、书名（或论文题目）、出 版 社（或刊物名称）、出版时间（或刊号）、页码。提供所译外文资料附件（印刷类含封面、封底、目录、翻译部分的复印件等，网站类的请附网址及原文】Research on Motion Simulation for Robot Based on Virtual RealityAbstractAiming at the shortcomings of using traditional solid model for network-based simulation, the 3D visualization of the model and motion simulation for robot is realized by VRML and Java interaction through the External Authoring Interface (EAI) in this paper. In order to observe the three-dimensional robot in motion on a WEB browser, the virtual environment of the robot is established by VRML based on virtual reality technology, and the 3D assembling model of robot is built by UG software and channelled into the virtual environment by VRML format. According to the direct kinematics problems and inverse kinematics problems of robot, the motion simulation program for robot is made by VRML and Java language with the movement simulation control function to realize the motion simulation. The method can not only browse motion process of robot, but also is suitable for transmission of network to realize resource-sharing, therefore the research of motion simulation for robot based on internet has important research value and application prospect.Index Terms Robot; VRML and Java; Kinematics; Motion SimulationI. INTRODUCTIONWith the rapid development of computer technology and network technology, virtual manufacturing (VM) becomes an emerging technology that summarizes the computerized manufacturing activities with models, simulations and artificial intelligence instead of objects and their operations in the real word. It realizes optimization products in manufacture process with prediction manufacture circle and promptly modification design 12.Virtual reality technology is a very important support technology for virtual manufacture because it is an important way of virtual design production. With the appearance of Java and VRML technology, robot motion simulation on WEB browser turns into realization 36. Robot motion simulation is a necessary research direction in robot research field. Guo4 adopted ADAMS software for 3-RPC robot motion simulation, but the method isnt suitable for motion simulation on internet. Yang3and Zhao5 researched the motion simulation of robot by VRML, and they didnt optimize VRML file. Bo8 provided environmental simulation within a virtual environment by Java and VRML interaction through the External Authoring Interface. Qin9 researched a novel 3D simulation modeling system for distributed manufacturing. In this paper, the CINCINNATI robot is researched and analysed by VRML and Java and VRML file is optimized fortransmission on internet. The 3D visualization model of the motion simulation for robot is realized by VRML and Java based on virtual reality. Therefore the research about motion simulation of robot based on internet is significant and application value.II. KINEMATICS OF ROBOTThere are two problems for the kinematics of robot. One problem is direct kinematicsproblems, which the gesture of terminal actuator in the setting system of coordinates need be solved by the geometric parameter and joint variate of member. The other is inverse kinematics problems, which the joint variate value need be solved by the robot geometric parameter and the gesture of terminal actuator in the whole system of coordinates 1316. The industrial robot is researched in the paper, and it was manufactured in CINCINNATI MILACRON COMPANY. The robot with six degrees of freedom shows in Figure1.It is extensively applied in industrial filed, such as transport, spraying and welding etc.A. DKP-Direct Kinematics ProblemsAccording to Denavit-Hartenberg6 transformation of coordinate (D-H), the position and orientation for the system of coordinates from the rod i to the rod i-1is described in the picture.译文：基于虚拟现实技术的机器人运动仿真研究摘要 本文针对使用传统基于网络仿真实体模型的缺点,通过在外部编辑界面（EAI）上的虚拟建模语言及JAVA编程，机器人三维可视化建模和运动仿真已经实现。为了观察三维机器人在一个网页浏览器中的运动,在通过UG软件的三维装配建模的建立和虚拟环境技术的基础上，通过运用虚拟现实建模语言格式，机器人的虚拟环境已经被建立了。根据机器人的直接运动学的问题和逆运动学问题，运动仿真程序机器人是由VRML和Java语言实现模拟控制功能运动来实现运动仿真的。该方法不仅可以浏览机器人的运动过程,而且也适用于传输网，络实现资源共享,因此研究基于互联网的机器人运动仿真具有重要的研究价值和应用前景。引言随着计算机技术和网络技术的飞速发展，虚拟制造(VM)成为一个新兴的技术,这项技术集计算机生产活动与模型,模拟和人工智能与一身，代替了实体和实体在现实生活中的操作。虚拟制造可以在预测和生产过程中,及时进行改进设计制造圈12，从而实现了产品的优化。由于虚拟现实技术是一种重要的虚拟设计生产方式，所以它是一个非常重要的支持虚拟制造的技术。随着Java的产生及VRML技术的发展，,浏览器上的机器人运动模拟开始实现36。在机器人研究领域内，机器人运动仿真是一种必要的的研究方向。郭4采用ADAMS软件对3-RPC机器人进行运动模拟处理,但是这个方法并不适用于在网上的运动模拟。杨3,赵5 通过虚拟现实建模语言，研究机器人的运动模拟,然而他们没有使VRML文件最优化。博8通过在外部编辑界面上进行JAVA和VRML的相互作用，在一个虚拟环境中提供了环境的模拟。秦9为分布式制造研究了一种新颖的三维仿真建模系统。在本文中，对CINCINNATI机器人进行研究，而且通过JAVA和VRML进行分析，VRML文件在网上的传输是比较乐观的。在三维可视化模型对机器人运动模拟和Java实现了基于VRML的虚拟现实。因此,基于网络的机器人的运动仿真的研究是很有意义和应用价值的。机器人的运动学机器人的运动学有两个问题。其中一个问题就是直接运动学的问题，在设定系统的坐标中，终端促动器的动作问题需要通过几何参数和联合变量解决。另一个是逆运动学问题，联合变量值,需要通过机器人的几何参数和在整个系统的坐标终端致动器的姿态 1316解决。在本文中，对这种工业机器人进行了试验研究,它是在CINCINNATIMILACRON公司里制造。在图1中显示，这个机器人有六个自由度。这种机器人广泛应用于工业领域，例如交通、喷涂工艺和焊接等。参考文献：1 W.B. 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Wang, X.L.Wang.ea.lt.3D simulation of robot based on VRML and java applet, Journal of Shandong University (ENGINEERING SCIENCE), Vol.34,No.6,2004,PP:4-87 I.M,Brown , Developing a virtual reality user interface for geographic I formation retrieval on the InternetJ Transactions in GIS. vol.41,n.6,1999, PP:207-220.8 H.Bo,C.Christophe Environmental simulation within a virtual environmentJ, ournal of Photogrammetry & Remote Sensing, vol 59,2004,PP:73-849 S.F.Qin, R.Harrison, A.A.West. et al, Development of a novel 3D simulation modeling system for distributed manufacturing, Computers in industry, Vol.54,2004,PP:69-81指导教师审阅意见：指导教师：年 月 日 5