Jun.2012
机 床 与 液 压
Hydromechatronics Engineering Vo1.40 No.12
DOI:10.3969/j.issn.1001-3881.2012.12.013
A Study of the Simulation for Robot M otion
Based on VRM L-JAVA
M A Zhuang
Department of information engineering, Shan College,Tangshan 063000,China
1.Introduction
Abstract:This paper studied the control systems,modulation and procedures of the parameter
translation for a virtual robot’s arm by using Virtual Reality technology through VRML-JAVA.The
controI of motion simulation for the robot’s arm has been preliminarily performed in present pa-
per.The simulation results showed that the present research is a significant reference for the real
application of robots virtual technology.
Key words:VRML—JAVA,robotic arm,virtual reality technology
Virtual reality technology is a kind of a 3 D
graphics technology .It adopts modeling tool to gener-
ate 3D graphics, to change the layers, lighting
sources and view points, and to make animations,
material or texture maps on the scene of embellish—
ment[1].VRML (Virtual Reality Modeling Lan-
guage)is an ASCII description language.By using
this language,3-D graphic model could be quickly
obtained without the environmental limitations and
the good quality of image could be realized.Through
the user interface of the graphical embedded simula—
tion in JAVA applet and VRML.the communication
of programmatic interface to a node could be estab.
1ished by 3 D graphics,and the controlling model of
various movements could be flexibly achieved[2].
The sim ulation study of virtual
obot’s movem ent
2.1. The m eaning of virtual sim ulation
In industrial,VRML plays an important role to
Received:2012—05—12
MA Zhuang:E-mail:tmzhuange
—
mail@ sina.corn
design,develop and test products.Since the design,
test and relevant experiments of products will extend
the product development cycles and increase the
product development costs, it is very important to
shorten the product development cycle and reduce the
development cost of products.
Virtual design,virtual test and virtual reality ex—
periment can apparently shorten the time of the prod-
uct design, test, and the experiment cycle and re—
duce the cost of product testing and experiment. W e
can build mathematical model to establish and test
the products,and the model of emulation by the com—
puter can achieve the purposes and analyze the real
physical tests.
2.2. Building the simulated enviroment
Firstly,in order to run JAVA programs and real—
ize the control of virtual。motion needs a simulated
environment and improves the interaction ability of
VRML.
Second。to build the simulation environment of
VRML,one of JAVA software called JDK (i.e.,JA—
VA Development Kit)is adopted,and JRE (Java
Runtime Environment)is required to provide the JA—
VA virtual environment『3].
Finally, VRML will be explained sentence by
sentence and run by html browser. Since Cortona