Proceedings of the Korean Society of Machine Tool Engineers Conference (한국공작기계학회:학술대회논문집)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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Integrated Control System Design of SCARA Robot Based on OLP

OLP를 이용한 스카라 로봇의 통합제어 시스템 설계

  • 정경규 (경남대학교 대학원) ;
  • 정동연 (경남대학교 대학원) ;
  • 신행봉 (경남대학교 대학원) ;
  • 장영희 (부산대학교 대학원 메카트로닉스학과) ;
  • 한성현 (경남대학교 기계자동화공학부) ;
  • 이만형 (부산대학교 기계공학부)
  • Published : 2000.10.01
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Abstract

We developed a Off-Line Graphic Simulator which can simulate a robot model in 3D graphics space in Windows 95 version. 4 axes SCARA robot was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program The interface between users and the off-line program system in the Windows 95'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 3D graphics.

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