한국생산제조학회지 (Journal of the Korean Society of Manufacturing Technology Engineers)

  • 제11권3호
  • /
  • Pages.21-27
  • /
  • 2002
  • /
  • 2508-5093(pISSN)
  • /
  • 2508-5107(eISSN)
한국생산제조학회 (The Korean Society of Manufacturing Technology Engineers)
권호 표지

오프라인 프로그래밍을 이용한 스카라 로봇의 통합제어 시스템 설계

Integrated Control System Design of SCARA Robot Based on Off-Line Programming

  • 정동연 (경남대학교 대학원 기계설계학과) ;
  • 한성현 (경남대학교 기계자동화공학부)
  • 발행 : 2002.11.01
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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 ares 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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참고문헌

  1. 대한기계학회 논문집 v.19 PC에서 운용되는 스카라형 로보트의 오프라인 프로그래밍 시스템 박민조;손권;안두성
  2. International Symposiums of Robotics Research R. Bolles;B. Roth
  3. Introduction to Robotics Mechanics and Control(Second edition) Craig. J. J.
  4. Industrial Robot v.22 no.3 Developments in Offline Programming: An Overview G. Wittenberg
  5. Inside Visual C++4 David J. Kruglinski
  6. OpenGL Programming for Windows 95 and Windows NT Ron Fosner