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

한국생산제조학회 (The Korean Society of Manufacturing Technology Engineers)
권호 표지

OLP를 이용한 스카라 로봇의 통합제어 시스템 설계

Integrated Control System Design of SCARA Robot Based on OLP

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

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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