Realization of an output controller simulator based on Windows NT for a direct drive cooperative robot using OpenGL

Windows NT 환경에서 OpenGL을 이용한 직접구동 협조로봇용 Output Tracking 시뮬레이터 구현

In this paperwe develop a real-time simulator for direct drive cooperative robot by using OpenGL in a Windows NT based system. This simulator is composed of 2 parts, a display part and an interface part. In the display part the robot is modelled and rendered in 3D space. To do this OpenGL, a kind of graphic library, is used for rendering and animating robots and kinematics gives the information of the current robot configuration. The control and the feedback data are sent and received via the interface part. In real time simulation interfacing part needs fast data transfer rate and good nosic immunity. In experiment we have simulated 2-link direct drive cooperative robots using the trajectory tracking algorithm proposed in reference.